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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: 1.3 $ // $Date: 2006/08/04 22:22:37 $ // $Source: /usr/local/cvs/OpenSees/SRC/element/joint/Joint3D.cpp,v $ // Written: Arash Altoontash, Gregory Deierlein // Created: 03/02 // Revision: Arash // Joint3D.cpp: implementation of the Joint3D class. // #include <stdio.h> #include <Channel.h> #include <FEM_ObjectBroker.h> #include <Renderer.h> #include <Information.h> #include <math.h> #include <stdlib.h> #include <string.h> #include <MP_Constraint.h> #include <MP_Joint3D.h> #include <ElementResponse.h> #include <UniaxialMaterial.h> #include <Joint3D.h> Matrix Joint3D::K(45,45); Vector Joint3D::V(45); // Construction/Destruction Joint3D::Joint3D() :Element(0, ELE_TAG_Joint3D ), ExternalNodes(7), InternalConstraints(6), TheDomain(0), numDof(0), nodeDbTag(0), dofDbTag(0) { for (int i=0 ; i<7 ; i++ ) theNodes[i] = NULL; for (int j=0 ; j<3 ; j++ ) theSprings[j] = NULL; } Joint3D::Joint3D(int tag, int nd1, int nd2, int nd3, int nd4, int nd5, int nd6, int IntNodeTag, UniaxialMaterial &springx, UniaxialMaterial &springy, UniaxialMaterial &springz, Domain *theDomain, int LrgDisp) :Element(tag, ELE_TAG_Joint3D ), ExternalNodes(7), InternalConstraints(6), TheDomain(0), numDof(0), nodeDbTag(0), dofDbTag(0) { int i; numDof = 45; K.Zero(); V.Zero(); TheDomain = theDomain; if( TheDomain==NULL ) { opserr << "WARNING Joint3D(): Specified domain does not exist , Domain = 0\n"; return; } // Save external node id's ExternalNodes(0) = nd1; ExternalNodes(1) = nd2; ExternalNodes(2) = nd3; ExternalNodes(3) = nd4; ExternalNodes(4) = nd5; ExternalNodes(5) = nd6; ExternalNodes(6) = IntNodeTag; // get the external nodes for ( i=0 ; i<6 ; i++) { theNodes[i] = NULL; theNodes[i] = TheDomain->getNode( ExternalNodes(i) ); if (theNodes[i] == NULL) { opserr << "WARNING Joint3D::setDomain(): Nd" <<(i+1) <<": "; opserr << ExternalNodes(i) << "does not exist in model for element \n" << *this; return; } } // check for a two dimensional domain, since this element supports only two dimensions const Vector &end1Crd = theNodes[0]->getCrds(); const Vector &end2Crd = theNodes[1]->getCrds(); const Vector &end3Crd = theNodes[2]->getCrds(); const Vector &end4Crd = theNodes[3]->getCrds(); const Vector &end5Crd = theNodes[4]->getCrds(); const Vector &end6Crd = theNodes[5]->getCrds(); int dimNd1 = end1Crd.Size(); int dimNd2 = end2Crd.Size(); int dimNd3 = end3Crd.Size(); int dimNd4 = end4Crd.Size(); int dimNd5 = end5Crd.Size(); int dimNd6 = end6Crd.Size(); if (dimNd1 != 3 || dimNd2 != 3 || dimNd3 != 3 || dimNd4 != 3 || dimNd5 != 3 || dimNd6 != 3 ) { opserr << "WARNING Joint3D::setDomain(): has incorrect space dimension \n"; opserr << " space dimension not supported by Joint3D"; return; } // now verify the number of dof at node ends int dofNd1 = theNodes[0]->getNumberDOF(); int dofNd2 = theNodes[1]->getNumberDOF(); int dofNd3 = theNodes[2]->getNumberDOF(); int dofNd4 = theNodes[3]->getNumberDOF(); int dofNd5 = theNodes[4]->getNumberDOF(); int dofNd6 = theNodes[5]->getNumberDOF(); if (dofNd1 != 6 || dofNd2 != 6 || dofNd3 != 6 || dofNd4 != 6 || dofNd5 != 6 || dofNd6 != 6 ) { opserr << "WARNING Joint3D::Joint3D: has incorrect degrees of freedom \n"; opserr << " DOF not supported by Joint3D"; return; } // check the joint size. The joint size must be non-zero Vector Center1(end1Crd); Vector Center2(end3Crd); Vector Center3(end5Crd); Center1 = Center1 - end2Crd; Center2 = Center2 - end4Crd; Center3 = Center3 - end6Crd; double L1 = Center1.Norm(); double L2 = Center2.Norm(); double L3 = Center3.Norm(); if( Center1.Norm()<1e-12 || Center2.Norm()<1e-12 || Center3.Norm()<1e-12 ) { opserr << "WARNING Joint3D::(): zero length\n"; return; } // check if nodes are not located on each other and they can construct // a parallelogram Center1 = end1Crd + end2Crd; Center2 = end3Crd + end4Crd; Center3 = end5Crd + end6Crd; Center1 = 0.5 * Center1; Center2 = 0.5 * Center2; Center3 = 0.5 * Center3; Vector CenterTemp(Center2); CenterTemp = CenterTemp - Center1; if ( CenterTemp.Norm() > 1e-6 ) { opserr << "WARNING Joint3D::(): can not construct a shear block over external nodes\n"; opserr << "check the coordinates\n"; return; } CenterTemp = Center3 - Center1; if ( CenterTemp.Norm() > 1e-6 ) { opserr << "WARNING Joint3D::(): can not construct a shear block over external nodes\n"; opserr << "check the coordinates\n"; return; } // Generate internal node and add it up to domain theNodes[6] = new Node ( IntNodeTag , 9, Center1(0) , Center1(1) , Center1(2) ); if ( theNodes[6] == NULL ) { opserr << "Joint3D::Joint3D - Unable to generate new nodes , out of memory\n" ; } else { if( TheDomain->addNode( theNodes[6] ) == false ) // add intenal nodes to domain opserr << "Joint3D::Joint3D - unable to add internal nodeto domain\n"; } // make copy of the uniaxial materials for the element if ( &springx == NULL ) { opserr << "ERROR Joint3D::Joint3D(): The rotational spring in y'z' plane does not exist "; exit(-1); } else { theSprings[0] = springx.getCopy(); } if ( &springy == NULL ) { opserr << "ERROR Joint3D::Joint3D(): The rotational spring in x'z' plane does not exist "; exit(-1); } else { theSprings[1] = springy.getCopy(); } if ( &springz == NULL ) { opserr << "ERROR Joint3D::Joint3D(): The rotational spring in x'y' plane does not exist "; exit(-1); } else { theSprings[2] = springz.getCopy(); } for ( i=0 ; i<3 ; i++ ) { if ( theSprings[i] == NULL ) { opserr << "ERROR Joint3D::Joint3D(): Can not make copy of uniaxial materials, out of memory "; exit(-1); } } // Generate and add constraints to domain // get the constraint numbers int startMPtag = theDomain->getNumMPs(); for ( i=0 ; i<6 ; i++ ) InternalConstraints(i) = startMPtag + i ; // create MP_Joint constraint node 1 if ( addMP_Joint( TheDomain, InternalConstraints(0), ExternalNodes(6), ExternalNodes(0), ExternalNodes(5), 8, ExternalNodes(3), 7, LrgDisp ) != 0) { opserr << "WARNING Joint3D::Joint3D(): can not generate ForJoint MP at node 1\n"; return; } // create MP_Joint constraint node 2 if ( addMP_Joint( TheDomain, InternalConstraints(1), ExternalNodes(6), ExternalNodes(1), ExternalNodes(5), 8, ExternalNodes(3), 7, LrgDisp ) != 0) { opserr << "WARNING Joint3D::Joint3D(): can not generate ForJoint MP at node 2\n"; return; } // create MP_Joint constraint node 3 if ( addMP_Joint( TheDomain, InternalConstraints(2), ExternalNodes(6), ExternalNodes(2), ExternalNodes(1), 6, ExternalNodes(5), 8, LrgDisp ) != 0) { opserr << "WARNING Joint3D::Joint3D(): can not generate ForJoint MP at node 3\n"; return; } // create MP_Joint constraint node 4 if ( addMP_Joint( TheDomain, InternalConstraints(3), ExternalNodes(6), ExternalNodes(3), ExternalNodes(1), 6, ExternalNodes(5), 8, LrgDisp ) != 0) { opserr << "WARNING Joint3D::Joint3D(): can not generate ForJoint MP at node 4\n"; return; } // create MP_Joint constraint node 5 if ( addMP_Joint( TheDomain, InternalConstraints(4), ExternalNodes(6), ExternalNodes(4), ExternalNodes(3), 7, ExternalNodes(1), 6, LrgDisp ) != 0) { opserr << "WARNING Joint3D::Joint3D(): can not generate ForJoint MP at node 3\n"; return; } // create MP_Joint constraint node 6 if ( addMP_Joint( TheDomain, InternalConstraints(5), ExternalNodes(6), ExternalNodes(5), ExternalNodes(3), 7, ExternalNodes(1), 6, LrgDisp ) != 0) { opserr << "WARNING Joint3D::Joint3D(): can not generate ForJoint MP at node 3\n"; return; } } Joint3D::~Joint3D() { if ( TheDomain != NULL) { MP_Constraint *Temp_MP; for ( int i=0 ; i < 6 ; i++ ) { Temp_MP = TheDomain->getMP_Constraint( InternalConstraints(i) ); if ( Temp_MP != NULL ) { TheDomain->removeMP_Constraint( InternalConstraints(i) ); delete Temp_MP; } } if ( theNodes[7] != NULL ) { int intnodetag = theNodes[7]->getTag(); TheDomain->removeNode( intnodetag ); delete theNodes[7]; } } for (int i=0 ; i<3 ; i++) if ( theSprings[i] != NULL ) delete theSprings[i]; } void Joint3D::setDomain(Domain *theDomain) { //Ckeck domain not null - invoked when object removed from a domain if (theDomain == 0) { for(int i=0 ; i<7 ; i++) theNodes[i] = NULL; } else { TheDomain = theDomain; this->DomainComponent::setDomain(theDomain); for (int i=0 ; i<7 ; i++) if ( theNodes[i] ==0 ) theNodes[i] = TheDomain->getNode( ExternalNodes(i) ); } } int Joint3D::addMP_Joint(Domain *theDomain, int mpNum, int RetNodeID, int ConNodeID, int RotNodeID, int Rdof, int DspNodeID, int Ddof, int LrgDispFlag ) { MP_Constraint *Temp_MP; // create MP_ForJoint constraint Temp_MP = new MP_Joint3D( theDomain, mpNum, RetNodeID, ConNodeID, RotNodeID, Rdof, DspNodeID, Ddof, LrgDispFlag ); if (Temp_MP == NULL) { opserr << "Joint3D::addMP_Joint - WARNING ran out of memory for MP_Joint3D MP_Constraint "; return -1; } // Add the multi-point constraint to the domain if (theDomain->addMP_Constraint (Temp_MP) == false) { opserr << "Joint3D::addMP_Joint - WARNING could not add equalDOF MP_Constraint to domain "; delete Temp_MP; return -2; } return 0; } // Public methods called, taken care of for 2D element subclasses int Joint3D::update(void) { const Vector &dispC = theNodes[6]->getTrialDisp(); int result = 0; for ( int i=0 ; i<3 ; i++ ) { if ( theSprings[i] != NULL ) result = theSprings[i]->setTrialStrain(dispC(i+6)); if ( result != 0 ) break; } return result; } int Joint3D::commitState() { int result = 0; for ( int i=0 ; i<3 ; i++ ) { if ( theSprings[i] != NULL ) result = theSprings[i]->commitState(); if ( result != 0 ) break; } return result; } int Joint3D::revertToLastCommit() { int result = 0; for ( int i=0 ; i<3 ; i++ ) { if ( theSprings[i] != NULL ) result = theSprings[i]->revertToLastCommit(); if ( result != 0 ) break; } return result; } int Joint3D::revertToStart(void) { int result = 0; for ( int i=0 ; i<3 ; i++ ) { if ( theSprings[i] != NULL ) result = theSprings[i]->revertToStart(); if ( result != 0 ) break; } return result; } int Joint3D::getNumExternalNodes(void) const { return 7; } const ID &Joint3D::getExternalNodes(void) { return ExternalNodes; } Node **Joint3D::getNodePtrs(void) { return theNodes; } int Joint3D::getNumDOF(void) { return numDof; } const Matrix &Joint3D::getTangentStiff(void) { double Ktangent[3] ; for ( int i=0 ; i<3 ; i++ ) { Ktangent[i] = 0; if ( theSprings[i] != NULL ) Ktangent[i] = theSprings[i]->getTangent(); } K.Zero(); K(42,42) = Ktangent[0]; K(43,43) = Ktangent[1]; K(44,44) = Ktangent[2]; return K; } const Matrix &Joint3D::getInitialStiff(void) { double Kintial[3] ; for ( int i=0 ; i<3 ; i++ ) { Kintial[i] = 0; if ( theSprings[i] != NULL ) Kintial[i] = theSprings[i]->getTangent(); } K.Zero(); K(42,42) = Kintial[0]; K(43,43) = -Kintial[0]; K(44,44) = Kintial[1]; return K; } const Matrix &Joint3D::getDamp(void) { K.Zero(); return K; } const Matrix &Joint3D::getMass(void) { K.Zero(); return K; } void Joint3D::Print(OPS_Stream &s, int flag ) { s << "\nElement: " << getTag() << " type: Joint3D iNode: " << ExternalNodes(0) << " jNode: " << ExternalNodes(1) << "\n" << " kNode: " << ExternalNodes(2) << " lNode: " << ExternalNodes(3) << "\n" << " mNode: " << ExternalNodes(4) << " nNode: " << ExternalNodes(5) << "\n" << " Internal node: " << ExternalNodes(6) << "\n"; } // methods for applying and returning loads void Joint3D::zeroLoad(void) { } int Joint3D::addLoad(ElementalLoad *theLoad, double loadFactor) { return 0; } int Joint3D::addInertiaLoadToUnbalance(const Vector &accel) { return 0; } const Vector &Joint3D::getResistingForce() { double Force[3] ; for ( int i=0 ; i<3 ; i++ ) { Force[i] = 0; if ( theSprings[i] != NULL ) Force[i] = theSprings[i]->getStress(); } V.Zero(); V(42) = Force[0]; V(43) = Force[1]; V(44) = Force[2]; return V; } const Vector & Joint3D::getResistingForceIncInertia() { return this->getResistingForce(); } int Joint3D::displaySelf(Renderer &theViewer, int displayMode, float fact) { // first determine the four corner points of the element based on // the display factor (a measure of the distorted image) // store this information in 2 3d vectors v1 and v2 const Vector &node1Crd = theNodes[0]->getCrds(); const Vector &node2Crd = theNodes[1]->getCrds(); const Vector &node3Crd = theNodes[2]->getCrds(); const Vector &node4Crd = theNodes[3]->getCrds(); const Vector &node5Crd = theNodes[4]->getCrds(); const Vector &node6Crd = theNodes[5]->getCrds(); const Vector &node1Disp = theNodes[0]->getDisp(); const Vector &node2Disp = theNodes[1]->getDisp(); const Vector &node3Disp = theNodes[2]->getDisp(); const Vector &node4Disp = theNodes[3]->getDisp(); const Vector &node5Disp = theNodes[4]->getDisp(); const Vector &node6Disp = theNodes[5]->getDisp(); static Vector v1(3); static Vector v2(3); static Vector v3(3); static Vector v4(3); static Vector v5(3); static Vector v6(3); // calculate the current coordinates of four external nodes for (int i=0; i<3; i++) { v1(i) = node1Crd(i)+node1Disp(i)*fact; v2(i) = node2Crd(i)+node2Disp(i)*fact; v3(i) = node3Crd(i)+node3Disp(i)*fact; v4(i) = node4Crd(i)+node4Disp(i)*fact; v5(i) = node5Crd(i)+node5Disp(i)*fact; v6(i) = node6Crd(i)+node6Disp(i)*fact; } // draw the center lines int dummy; dummy = theViewer.drawLine(v1, v2, 1.0, 1.0); dummy = theViewer.drawLine(v3, v4, 1.0, 1.0); dummy = theViewer.drawLine(v5, v6, 1.0, 1.0); // calculate the eight corners of the block Vector va(3); Vector vb(3); Vector vc(3); va = v2 - v1; vb = v4 - v3; vc = v6 - v5; Vector vbegin(3); Vector vend(3); vbegin = v1 + 0.5*vb - 0.5*vc; vend = vbegin + va; dummy = theViewer.drawLine(vbegin, vend, 1.0, 1.0); vbegin = vend; vend = vbegin + vb; dummy = theViewer.drawLine(vbegin, vend, 1.0, 1.0); vbegin = vend; vend = vbegin - va; dummy = theViewer.drawLine(vbegin, vend, 1.0, 1.0); vbegin = vend; vend = vbegin - vb; dummy = theViewer.drawLine(vbegin, vend, 1.0, 1.0); vbegin = v1 - 0.5*vb - 0.5*vc; vend = vbegin + va; dummy = theViewer.drawLine(vbegin, vend, 1.0, 1.0); vbegin = vend; vend = vbegin + vb; dummy = theViewer.drawLine(vbegin, vend, 1.0, 1.0); vbegin = vend; vend = vbegin - va; dummy = theViewer.drawLine(vbegin, vend, 1.0, 1.0); vbegin = vend; vend = vbegin - vb; dummy = theViewer.drawLine(vbegin, vend, 1.0, 1.0); vbegin = v1 + 0.5*vb - 0.5*vc; vend = vbegin - vb; dummy = theViewer.drawLine(vbegin, vend, 1.0, 1.0); vbegin = v1 + 0.5*vb + 0.5*vc; vend = vbegin - vb; dummy = theViewer.drawLine(vbegin, vend, 1.0, 1.0); vbegin = v2 + 0.5*vb - 0.5*vc; vend = vbegin - vb; dummy = theViewer.drawLine(vbegin, vend, 1.0, 1.0); vbegin = v2 + 0.5*vb + 0.5*vc; vend = vbegin - vb; dummy = theViewer.drawLine(vbegin, vend, 1.0, 1.0); return 0; } //most-probably requires to be overridden Response* Joint3D::setResponse(const char **argv, int argc, Information &eleInformation, OPS_Stream &output) { // // we compare argv[0] for known response types for the Truss // if (strcmp(argv[0],"node") == 0 || strcmp(argv[0],"internalNode") == 0 ) return new ElementResponse(this, 1, Vector(9)); else if (strcmp(argv[0],"size") == 0 || strcmp(argv[0],"jointSize") == 0 ) return new ElementResponse(this, 2, Vector(3)); else if (strcmp(argv[0],"moment") == 0 || strcmp(argv[0],"moments") == 0 || strcmp(argv[0],"force") == 0 || strcmp(argv[0],"forces") == 0 ) return new ElementResponse(this, 3, Vector(3)); else if (strcmp(argv[0],"defo") == 0 || strcmp(argv[0],"deformations") == 0 || strcmp(argv[0],"deformation") == 0 ) return new ElementResponse(this, 4, Vector(3)); else if (strcmp(argv[0],"defoANDforce") == 0 || strcmp(argv[0],"deformationANDforce") == 0 || strcmp(argv[0],"deformationsANDforces") == 0 ) return new ElementResponse(this, 5, Vector(6)); else if ( strcmp(argv[0],"stiff") == 0 || strcmp(argv[0],"stiffness") == 0 ) return new ElementResponse(this, 6, Matrix(45,45) ); else if (strcmp(argv[0],"plasticRotation") == 0 || strcmp(argv[0],"plasticDeformation") == 0) return new ElementResponse(this, 7, Vector(3)); else return 0; } int Joint3D::getResponse(int responseID, Information &eleInformation) { switch (responseID) { case -1: return -1; case 1: if(eleInformation.theVector!=0) { const Vector& disp = theNodes[6]->getTrialDisp(); for ( int i = 0 ; i<9 ; i++ ) (*(eleInformation.theVector))(i) = disp(i); } return 0; case 2: if(eleInformation.theVector!=0) { const Vector &node1Crd = theNodes[0]->getCrds(); const Vector &node2Crd = theNodes[1]->getCrds(); const Vector &node3Crd = theNodes[2]->getCrds(); const Vector &node4Crd = theNodes[3]->getCrds(); const Vector &node5Crd = theNodes[4]->getCrds(); const Vector &node6Crd = theNodes[5]->getCrds(); const Vector &node1Disp = theNodes[0]->getDisp(); const Vector &node2Disp = theNodes[1]->getDisp(); const Vector &node3Disp = theNodes[2]->getDisp(); const Vector &node4Disp = theNodes[3]->getDisp(); const Vector &node5Disp = theNodes[4]->getDisp(); const Vector &node6Disp = theNodes[5]->getDisp(); Vector v1(3); Vector v2(3); Vector v3(3); Vector v4(3); Vector v5(3); Vector v6(3); // calculate the current coordinates of four external nodes for (int i=0; i<3; i++) { v1(i) = node1Crd(i)+node1Disp(i); v2(i) = node2Crd(i)+node2Disp(i); v3(i) = node3Crd(i)+node3Disp(i); v4(i) = node4Crd(i)+node4Disp(i); v5(i) = node5Crd(i)+node5Disp(i); v6(i) = node6Crd(i)+node6Disp(i); } v2 = v2 - v1; v4 = v4 - v3; v6 = v6 - v5; v1(0) = sqrt( v2(0)*v2(0) + v2(1)*v2(1) + v2(2)*v2(2) ); v1(1) = sqrt( v4(0)*v4(0) + v4(1)*v4(1) + v4(2)*v4(2) ); v1(2) = sqrt( v6(0)*v6(0) + v6(1)*v6(1) + v6(2)*v6(2) ); *(eleInformation.theVector) = v1; } return 0; case 3: if( eleInformation.theVector != 0 ) { for ( int i =0 ; i<3 ; i++ ) { (*(eleInformation.theVector))(i) = 0.0; if ( theSprings[i] != NULL ) (*(eleInformation.theVector))(i) = theSprings[i]->getStress(); } } return 0; case 4: if(eleInformation.theVector!=0) { for ( int i =0 ; i<3 ; i++ ) { (*(eleInformation.theVector))(i) = 0.0; if ( theSprings[i] != NULL ) (*(eleInformation.theVector))(i) = theSprings[i]->getStrain(); } } return 0; case 5: if(eleInformation.theVector!=0) { for ( int i =0 ; i<3 ; i++ ) { (*(eleInformation.theVector))(i) = 0.0; (*(eleInformation.theVector))(i+3) = 0.0; if ( theSprings[i] != NULL ) { (*(eleInformation.theVector))(i) = theSprings[i]->getStrain(); (*(eleInformation.theVector))(i+3) = theSprings[i]->getStress(); } } } return 0; case 6: return eleInformation.setMatrix(this->getTangentStiff()); case 7: if(eleInformation.theVector!=0) { for ( int i=0 ; i<3 ; i++ ) { (*(eleInformation.theVector))(i) = 0.0; if ( theSprings[i] != NULL && theSprings[i]->getInitialTangent() != 0.0 ) { (*(eleInformation.theVector))(i) = theSprings[i]->getStrain() - theSprings[i]->getStress()/theSprings[i]->getInitialTangent(); } } } return 0; default: return -1; } } int Joint3D::sendSelf(int commitTag, Channel &theChannel) { return 0; } int Joint3D::recvSelf(int commitTag, Channel &theChannel, FEM_ObjectBroker &theBroker) { return 0; } Generated on Mon Oct 23 15:05:08 2006 for OpenSees by  1.5.0

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