PDeltaCrdTransf3d.cppGo 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: 1.13 $ 00022 // $Date: 2005/12/15 00:30:38 $ 00023 // $Source: /usr/local/cvs/OpenSees/SRC/coordTransformation/PDeltaCrdTransf3d.cpp,v $ 00024 00025 00026 // Written: Remo Magalhaes de Souza (rmsouza@ce.berkeley.edu) 00027 // Created: 04/2000 00028 // Revision: A 00029 // 00030 // Modified: 04/2005 Andreas Schellenberg (getBasicTrialVel, getBasicTrialAccel) 00031 // 00032 // Purpose: This file contains the implementation for the 00033 // PDeltaCrdTransf3d class. PDeltaCrdTransf3d is a linear 00034 // transformation for a planar frame between the global 00035 // and basic coordinate systems 00036 00037 00038 #include <Vector.h> 00039 #include <Matrix.h> 00040 #include <Node.h> 00041 #include <Channel.h> 00042 00043 #include <PDeltaCrdTransf3d.h> 00044 00045 00046 // constructor: 00047 PDeltaCrdTransf3d::PDeltaCrdTransf3d(int tag, const Vector &vecInLocXZPlane): 00048 CrdTransf3d(tag, CRDTR_TAG_PDeltaCrdTransf3d), 00049 nodeIPtr(0), nodeJPtr(0), 00050 nodeIOffset(0), nodeJOffset(0), 00051 L(0), ul17(0), ul28(0), 00052 nodeIInitialDisp(0), nodeJInitialDisp(0), initialDispChecked(false) 00053 { 00054 for (int i = 0; i < 2; i++) 00055 for (int j = 0; j < 3; j++) 00056 R[i][j] = 0.0; 00057 00058 R[2][0] = vecInLocXZPlane(0); 00059 R[2][1] = vecInLocXZPlane(1); 00060 R[2][2] = vecInLocXZPlane(2); 00061 00062 // Does nothing 00063 } 00064 00065 00066 // constructor: 00067 PDeltaCrdTransf3d::PDeltaCrdTransf3d(int tag, const Vector &vecInLocXZPlane, 00068 const Vector &rigJntOffset1, 00069 const Vector &rigJntOffset2): 00070 CrdTransf3d(tag, CRDTR_TAG_PDeltaCrdTransf3d), 00071 nodeIPtr(0), nodeJPtr(0), 00072 nodeIOffset(0), nodeJOffset(0), 00073 L(0), ul17(0), ul28(0), 00074 nodeIInitialDisp(0), nodeJInitialDisp(0), initialDispChecked(false) 00075 { 00076 for (int i = 0; i < 2; i++) 00077 for (int j = 0; j < 3; j++) 00078 R[i][j] = 0.0; 00079 00080 R[2][0] = vecInLocXZPlane(0); 00081 R[2][1] = vecInLocXZPlane(1); 00082 R[2][2] = vecInLocXZPlane(2); 00083 00084 // check rigid joint offset for node I 00085 if (&rigJntOffset1 == 0 || rigJntOffset1.Size() != 3 ) { 00086 opserr << "PDeltaCrdTransf3d::PDeltaCrdTransf3d: Invalid rigid joint offset vector for node I\n"; 00087 opserr << "Size must be 3\n"; 00088 } 00089 else if (rigJntOffset1.Norm() > 0.0) { 00090 nodeIOffset = new double[3]; 00091 nodeIOffset[0] = rigJntOffset1(0); 00092 nodeIOffset[1] = rigJntOffset1(1); 00093 nodeIOffset[2] = rigJntOffset1(2); 00094 } 00095 00096 // check rigid joint offset for node J 00097 if (&rigJntOffset2 == 0 || rigJntOffset2.Size() != 3 ) { 00098 opserr << "PDeltaCrdTransf3d::PDeltaCrdTransf3d: Invalid rigid joint offset vector for node J\n"; 00099 opserr << "Size must be 3\n"; 00100 } 00101 else if (rigJntOffset2.Norm() > 0.0) { 00102 nodeJOffset = new double[3]; 00103 nodeJOffset[0] = rigJntOffset2(0); 00104 nodeJOffset[1] = rigJntOffset2(1); 00105 nodeJOffset[2] = rigJntOffset2(2); 00106 } 00107 } 00108 00109 00110 // constructor: 00111 // invoked by a FEM_ObjectBroker, recvSelf() needs to be invoked on this object. 00112 PDeltaCrdTransf3d::PDeltaCrdTransf3d(): 00113 CrdTransf3d(0, CRDTR_TAG_PDeltaCrdTransf3d), 00114 nodeIPtr(0), nodeJPtr(0), 00115 nodeIOffset(0), nodeJOffset(0), 00116 L(0), ul17(0), ul28(0), 00117 nodeIInitialDisp(0), nodeJInitialDisp(0), initialDispChecked(false) 00118 { 00119 for (int i = 0; i < 3; i++) 00120 for (int j = 0; j < 3; j++) 00121 R[i][j] = 0.0; 00122 } 00123 00124 00125 // destructor: 00126 PDeltaCrdTransf3d::~PDeltaCrdTransf3d() 00127 { 00128 if (nodeIOffset) 00129 delete [] nodeIOffset; 00130 if (nodeJOffset) 00131 delete [] nodeJOffset; 00132 if (nodeIInitialDisp != 0) 00133 delete [] nodeIInitialDisp; 00134 if (nodeJInitialDisp != 0) 00135 delete [] nodeJInitialDisp; 00136 } 00137 00138 00139 int 00140 PDeltaCrdTransf3d::commitState(void) 00141 { 00142 return 0; 00143 } 00144 00145 00146 int 00147 PDeltaCrdTransf3d::revertToLastCommit(void) 00148 { 00149 return 0; 00150 } 00151 00152 00153 int 00154 PDeltaCrdTransf3d::revertToStart(void) 00155 { 00156 return 0; 00157 } 00158 00159 00160 int 00161 PDeltaCrdTransf3d::initialize(Node *nodeIPointer, Node *nodeJPointer) 00162 { 00163 int error; 00164 00165 nodeIPtr = nodeIPointer; 00166 nodeJPtr = nodeJPointer; 00167 00168 if ((!nodeIPtr) || (!nodeJPtr)) 00169 { 00170 opserr << "\nPDeltaCrdTransf3d::initialize"; 00171 opserr << "\ninvalid pointers to the element nodes\n"; 00172 return -1; 00173 } 00174 00175 // see if there is some initial displacements at nodes 00176 if (initialDispChecked == false) { 00177 const Vector &nodeIDisp = nodeIPtr->getDisp(); 00178 const Vector &nodeJDisp = nodeJPtr->getDisp(); 00179 for (int i=0; i<6; i++) 00180 if (nodeIDisp(i) != 0.0) { 00181 nodeIInitialDisp = new double [6]; 00182 for (int j=0; j<6; j++) 00183 nodeIInitialDisp[j] = nodeIDisp(j); 00184 i = 6; 00185 } 00186 00187 for (int j=0; j<6; j++) 00188 if (nodeJDisp(j) != 0.0) { 00189 nodeJInitialDisp = new double [6]; 00190 for (int i=0; i<6; i++) 00191 nodeJInitialDisp[i] = nodeJDisp(i); 00192 j = 6; 00193 } 00194 00195 initialDispChecked = true; 00196 } 00197 00198 // get element length and orientation 00199 if ((error = this->computeElemtLengthAndOrient())) 00200 return error; 00201 00202 static Vector XAxis(3); 00203 static Vector YAxis(3); 00204 static Vector ZAxis(3); 00205 00206 // get 3by3 rotation matrix 00207 if ((error = this->getLocalAxes(XAxis, YAxis, ZAxis))) 00208 return error; 00209 00210 return 0; 00211 } 00212 00213 00214 int 00215 PDeltaCrdTransf3d::update(void) 00216 { 00217 const Vector &disp1 = nodeIPtr->getTrialDisp(); 00218 const Vector &disp2 = nodeJPtr->getTrialDisp(); 00219 00220 static double ug[12]; 00221 for (int i = 0; i < 6; i++) { 00222 ug[i] = disp1(i); 00223 ug[i+6] = disp2(i); 00224 } 00225 00226 if (nodeIInitialDisp != 0) { 00227 for (int j=0; j<6; j++) 00228 ug[j] -= nodeIInitialDisp[j]; 00229 } 00230 00231 if (nodeJInitialDisp != 0) { 00232 for (int j=0; j<6; j++) 00233 ug[j+6] -= nodeJInitialDisp[j]; 00234 } 00235 00236 double ul1, ul7, ul2, ul8; 00237 00238 ul1 = R[1][0]*ug[0] + R[1][1]*ug[1] + R[1][2]*ug[2]; 00239 ul2 = R[2][0]*ug[0] + R[2][1]*ug[1] + R[2][2]*ug[2]; 00240 00241 ul7 = R[1][0]*ug[6] + R[1][1]*ug[7] + R[1][2]*ug[8]; 00242 ul8 = R[2][0]*ug[6] + R[2][1]*ug[7] + R[2][2]*ug[8]; 00243 00244 static double Wu[3]; 00245 00246 if (nodeIOffset) { 00247 Wu[0] = nodeIOffset[2]*ug[4] - nodeIOffset[1]*ug[5]; 00248 Wu[1] = -nodeIOffset[2]*ug[3] + nodeIOffset[0]*ug[5]; 00249 Wu[2] = nodeIOffset[1]*ug[3] - nodeIOffset[0]*ug[4]; 00250 00251 ul1 += R[1][0]*Wu[0] + R[1][1]*Wu[1] + R[1][2]*Wu[2]; 00252 ul2 += R[2][0]*Wu[0] + R[2][1]*Wu[1] + R[2][2]*Wu[2]; 00253 } 00254 00255 if (nodeJOffset) { 00256 Wu[0] = nodeJOffset[2]*ug[10] - nodeJOffset[1]*ug[11]; 00257 Wu[1] = -nodeJOffset[2]*ug[9] + nodeJOffset[0]*ug[11]; 00258 Wu[2] = nodeJOffset[1]*ug[9] - nodeJOffset[0]*ug[10]; 00259 00260 ul7 += R[1][0]*Wu[0] + R[1][1]*Wu[1] + R[1][2]*Wu[2]; 00261 ul8 += R[2][0]*Wu[0] + R[2][1]*Wu[1] + R[2][2]*Wu[2]; 00262 } 00263 00264 ul17 = ul1-ul7; 00265 ul28 = ul2-ul8; 00266 00267 return 0; 00268 } 00269 00270 00271 int 00272 PDeltaCrdTransf3d::computeElemtLengthAndOrient() 00273 { 00274 // element projection 00275 static Vector dx(3); 00276 00277 const Vector &ndICoords = nodeIPtr->getCrds(); 00278 const Vector &ndJCoords = nodeJPtr->getCrds(); 00279 00280 dx(0) = ndJCoords(0) - ndICoords(0); 00281 dx(1) = ndJCoords(1) - ndICoords(1); 00282 dx(2) = ndJCoords(2) - ndICoords(2); 00283 00284 if (nodeIInitialDisp != 0) { 00285 dx(0) -= nodeIInitialDisp[0]; 00286 dx(1) -= nodeIInitialDisp[1]; 00287 dx(2) -= nodeIInitialDisp[2]; 00288 } 00289 00290 if (nodeJInitialDisp != 0) { 00291 dx(0) += nodeJInitialDisp[0]; 00292 dx(1) += nodeJInitialDisp[1]; 00293 dx(2) += nodeJInitialDisp[2]; 00294 } 00295 00296 if (nodeJOffset != 0) { 00297 dx(0) += nodeJOffset[0]; 00298 dx(1) += nodeJOffset[1]; 00299 dx(2) += nodeJOffset[2]; 00300 } 00301 00302 if (nodeIOffset != 0) { 00303 dx(0) -= nodeIOffset[0]; 00304 dx(1) -= nodeIOffset[1]; 00305 dx(2) -= nodeIOffset[2]; 00306 } 00307 00308 // calculate the element length 00309 L = dx.Norm(); 00310 00311 if (L == 0.0) { 00312 opserr << "\nPDeltaCrdTransf3d::computeElemtLengthAndOrien: 0 length\n"; 00313 return -2; 00314 } 00315 00316 // calculate the element local x axis components (direction cossines) 00317 // wrt to the global coordinates 00318 R[0][0] = dx(0)/L; 00319 R[0][1] = dx(1)/L; 00320 R[0][2] = dx(2)/L; 00321 00322 return 0; 00323 } 00324 00325 00326 int 00327 PDeltaCrdTransf3d::getLocalAxes(Vector &XAxis, Vector &YAxis, Vector &ZAxis) 00328 { 00329 // Compute y = v cross x 00330 // Note: v(i) is stored in R[2][i] 00331 static Vector vAxis(3); 00332 vAxis(0) = R[2][0]; vAxis(1) = R[2][1]; vAxis(2) = R[2][2]; 00333 00334 static Vector xAxis(3); 00335 xAxis(0) = R[0][0]; xAxis(1) = R[0][1]; xAxis(2) = R[0][2]; 00336 XAxis(0) = xAxis(0); XAxis(1) = xAxis(1); XAxis(2) = xAxis(2); 00337 00338 static Vector yAxis(3); 00339 00340 yAxis(0) = vAxis(1)*xAxis(2) - vAxis(2)*xAxis(1); 00341 yAxis(1) = vAxis(2)*xAxis(0) - vAxis(0)*xAxis(2); 00342 yAxis(2) = vAxis(0)*xAxis(1) - vAxis(1)*xAxis(0); 00343 00344 double ynorm = yAxis.Norm(); 00345 00346 if (ynorm == 0) { 00347 opserr << "\nPDeltaCrdTransf3d::getLocalAxes"; 00348 opserr << "\nvector v that defines plane xz is parallel to x axis\n"; 00349 return -3; 00350 } 00351 00352 yAxis /= ynorm; 00353 00354 YAxis(0) = yAxis(0); YAxis(1) = yAxis(1); YAxis(2) = yAxis(2); 00355 00356 // Compute z = x cross y 00357 static Vector zAxis(3); 00358 00359 zAxis(0) = xAxis(1)*yAxis(2) - xAxis(2)*yAxis(1); 00360 zAxis(1) = xAxis(2)*yAxis(0) - xAxis(0)*yAxis(2); 00361 zAxis(2) = xAxis(0)*yAxis(1) - xAxis(1)*yAxis(0); 00362 ZAxis(0) = zAxis(0); ZAxis(1) = zAxis(1); ZAxis(2) = zAxis(2); 00363 00364 // Fill in transformation matrix 00365 R[1][0] = yAxis(0); 00366 R[1][1] = yAxis(1); 00367 R[1][2] = yAxis(2); 00368 00369 R[2][0] = zAxis(0); 00370 R[2][1] = zAxis(1); 00371 R[2][2] = zAxis(2); 00372 00373 return 0; 00374 } 00375 00376 00377 double 00378 PDeltaCrdTransf3d::getInitialLength(void) 00379 { 00380 return L; 00381 } 00382 00383 00384 double 00385 PDeltaCrdTransf3d::getDeformedLength(void) 00386 { 00387 return L; 00388 } 00389 00390 00391 const Vector & 00392 PDeltaCrdTransf3d::getBasicTrialDisp (void) 00393 { 00394 // determine global displacements 00395 const Vector &disp1 = nodeIPtr->getTrialDisp(); 00396 const Vector &disp2 = nodeJPtr->getTrialDisp(); 00397 00398 static double ug[12]; 00399 for (int i = 0; i < 6; i++) { 00400 ug[i] = disp1(i); 00401 ug[i+6] = disp2(i); 00402 } 00403 00404 if (nodeIInitialDisp != 0) { 00405 for (int j=0; j<6; j++) 00406 ug[j] -= nodeIInitialDisp[j]; 00407 } 00408 00409 if (nodeJInitialDisp != 0) { 00410 for (int j=0; j<6; j++) 00411 ug[j+6] -= nodeJInitialDisp[j]; 00412 } 00413 00414 double oneOverL = 1.0/L; 00415 00416 static Vector ub(6); 00417 00418 static double ul[12]; 00419 00420 ul[0] = R[0][0]*ug[0] + R[0][1]*ug[1] + R[0][2]*ug[2]; 00421 ul[1] = R[1][0]*ug[0] + R[1][1]*ug[1] + R[1][2]*ug[2]; 00422 ul[2] = R[2][0]*ug[0] + R[2][1]*ug[1] + R[2][2]*ug[2]; 00423 00424 ul[3] = R[0][0]*ug[3] + R[0][1]*ug[4] + R[0][2]*ug[5]; 00425 ul[4] = R[1][0]*ug[3] + R[1][1]*ug[4] + R[1][2]*ug[5]; 00426 ul[5] = R[2][0]*ug[3] + R[2][1]*ug[4] + R[2][2]*ug[5]; 00427 00428 ul[6] = R[0][0]*ug[6] + R[0][1]*ug[7] + R[0][2]*ug[8]; 00429 ul[7] = R[1][0]*ug[6] + R[1][1]*ug[7] + R[1][2]*ug[8]; 00430 ul[8] = R[2][0]*ug[6] + R[2][1]*ug[7] + R[2][2]*ug[8]; 00431 00432 ul[9] = R[0][0]*ug[9] + R[0][1]*ug[10] + R[0][2]*ug[11]; 00433 ul[10] = R[1][0]*ug[9] + R[1][1]*ug[10] + R[1][2]*ug[11]; 00434 ul[11] = R[2][0]*ug[9] + R[2][1]*ug[10] + R[2][2]*ug[11]; 00435 00436 static double Wu[3]; 00437 if (nodeIOffset) { 00438 Wu[0] = nodeIOffset[2]*ug[4] - nodeIOffset[1]*ug[5]; 00439 Wu[1] = -nodeIOffset[2]*ug[3] + nodeIOffset[0]*ug[5]; 00440 Wu[2] = nodeIOffset[1]*ug[3] - nodeIOffset[0]*ug[4]; 00441 00442 ul[0] += R[0][0]*Wu[0] + R[0][1]*Wu[1] + R[0][2]*Wu[2]; 00443 ul[1] += R[1][0]*Wu[0] + R[1][1]*Wu[1] + R[1][2]*Wu[2]; 00444 ul[2] += R[2][0]*Wu[0] + R[2][1]*Wu[1] + R[2][2]*Wu[2]; 00445 } 00446 00447 if (nodeJOffset) { 00448 Wu[0] = nodeJOffset[2]*ug[10] - nodeJOffset[1]*ug[11]; 00449 Wu[1] = -nodeJOffset[2]*ug[9] + nodeJOffset[0]*ug[11]; 00450 Wu[2] = nodeJOffset[1]*ug[9] - nodeJOffset[0]*ug[10]; 00451 00452 ul[6] += R[0][0]*Wu[0] + R[0][1]*Wu[1] + R[0][2]*Wu[2]; 00453 ul[7] += R[1][0]*Wu[0] + R[1][1]*Wu[1] + R[1][2]*Wu[2]; 00454 ul[8] += R[2][0]*Wu[0] + R[2][1]*Wu[1] + R[2][2]*Wu[2]; 00455 } 00456 00457 ub(0) = ul[6] - ul[0]; 00458 double tmp; 00459 tmp = oneOverL*(ul[1]-ul[7]); 00460 ub(1) = ul[5] + tmp; 00461 ub(2) = ul[11] + tmp; 00462 tmp = oneOverL*(ul[8]-ul[2]); 00463 ub(3) = ul[4] + tmp; 00464 ub(4) = ul[10] + tmp; 00465 ub(5) = ul[9] - ul[3]; 00466 00467 return ub; 00468 } 00469 00470 00471 const Vector & 00472 PDeltaCrdTransf3d::getBasicIncrDisp (void) 00473 { 00474 // determine global displacements 00475 const Vector &disp1 = nodeIPtr->getIncrDisp(); 00476 const Vector &disp2 = nodeJPtr->getIncrDisp(); 00477 00478 static double ug[12]; 00479 for (int i = 0; i < 6; i++) { 00480 ug[i] = disp1(i); 00481 ug[i+6] = disp2(i); 00482 } 00483 00484 double oneOverL = 1.0/L; 00485 00486 static Vector ub(6); 00487 00488 static double ul[12]; 00489 00490 ul[0] = R[0][0]*ug[0] + R[0][1]*ug[1] + R[0][2]*ug[2]; 00491 ul[1] = R[1][0]*ug[0] + R[1][1]*ug[1] + R[1][2]*ug[2]; 00492 ul[2] = R[2][0]*ug[0] + R[2][1]*ug[1] + R[2][2]*ug[2]; 00493 00494 ul[3] = R[0][0]*ug[3] + R[0][1]*ug[4] + R[0][2]*ug[5]; 00495 ul[4] = R[1][0]*ug[3] + R[1][1]*ug[4] + R[1][2]*ug[5]; 00496 ul[5] = R[2][0]*ug[3] + R[2][1]*ug[4] + R[2][2]*ug[5]; 00497 00498 ul[6] = R[0][0]*ug[6] + R[0][1]*ug[7] + R[0][2]*ug[8]; 00499 ul[7] = R[1][0]*ug[6] + R[1][1]*ug[7] + R[1][2]*ug[8]; 00500 ul[8] = R[2][0]*ug[6] + R[2][1]*ug[7] + R[2][2]*ug[8]; 00501 00502 ul[9] = R[0][0]*ug[9] + R[0][1]*ug[10] + R[0][2]*ug[11]; 00503 ul[10] = R[1][0]*ug[9] + R[1][1]*ug[10] + R[1][2]*ug[11]; 00504 ul[11] = R[2][0]*ug[9] + R[2][1]*ug[10] + R[2][2]*ug[11]; 00505 00506 static double Wu[3]; 00507 if (nodeIOffset) { 00508 Wu[0] = nodeIOffset[2]*ug[4] - nodeIOffset[1]*ug[5]; 00509 Wu[1] = -nodeIOffset[2]*ug[3] + nodeIOffset[0]*ug[5]; 00510 Wu[2] = nodeIOffset[1]*ug[3] - nodeIOffset[0]*ug[4]; 00511 00512 ul[0] += R[0][0]*Wu[0] + R[0][1]*Wu[1] + R[0][2]*Wu[2]; 00513 ul[1] += R[1][0]*Wu[0] + R[1][1]*Wu[1] + R[1][2]*Wu[2]; 00514 ul[2] += R[2][0]*Wu[0] + R[2][1]*Wu[1] + R[2][2]*Wu[2]; 00515 } 00516 00517 if (nodeJOffset) { 00518 Wu[0] = nodeJOffset[2]*ug[10] - nodeJOffset[1]*ug[11]; 00519 Wu[1] = -nodeJOffset[2]*ug[9] + nodeJOffset[0]*ug[11]; 00520 Wu[2] = nodeJOffset[1]*ug[9] - nodeJOffset[0]*ug[10]; 00521 00522 ul[6] += R[0][0]*Wu[0] + R[0][1]*Wu[1] + R[0][2]*Wu[2]; 00523 ul[7] += R[1][0]*Wu[0] + R[1][1]*Wu[1] + R[1][2]*Wu[2]; 00524 ul[8] += R[2][0]*Wu[0] + R[2][1]*Wu[1] + R[2][2]*Wu[2]; 00525 } 00526 00527 ub(0) = ul[6] - ul[0]; 00528 double tmp; 00529 tmp = oneOverL*(ul[1]-ul[7]); 00530 ub(1) = ul[5] + tmp; 00531 ub(2) = ul[11] + tmp; 00532 tmp = oneOverL*(ul[8]-ul[2]); 00533 ub(3) = ul[4] + tmp; 00534 ub(4) = ul[10] + tmp; 00535 ub(5) = ul[9] - ul[3]; 00536 00537 return ub; 00538 } 00539 00540 00541 const Vector & 00542 PDeltaCrdTransf3d::getBasicIncrDeltaDisp(void) 00543 { 00544 // determine global displacements 00545 const Vector &disp1 = nodeIPtr->getIncrDeltaDisp(); 00546 const Vector &disp2 = nodeJPtr->getIncrDeltaDisp(); 00547 00548 static double ug[12]; 00549 for (int i = 0; i < 6; i++) { 00550 ug[i] = disp1(i); 00551 ug[i+6] = disp2(i); 00552 } 00553 00554 double oneOverL = 1.0/L; 00555 00556 static Vector ub(6); 00557 00558 static double ul[12]; 00559 00560 ul[0] = R[0][0]*ug[0] + R[0][1]*ug[1] + R[0][2]*ug[2]; 00561 ul[1] = R[1][0]*ug[0] + R[1][1]*ug[1] + R[1][2]*ug[2]; 00562 ul[2] = R[2][0]*ug[0] + R[2][1]*ug[1] + R[2][2]*ug[2]; 00563 00564 ul[3] = R[0][0]*ug[3] + R[0][1]*ug[4] + R[0][2]*ug[5]; 00565 ul[4] = R[1][0]*ug[3] + R[1][1]*ug[4] + R[1][2]*ug[5]; 00566 ul[5] = R[2][0]*ug[3] + R[2][1]*ug[4] + R[2][2]*ug[5]; 00567 00568 ul[6] = R[0][0]*ug[6] + R[0][1]*ug[7] + R[0][2]*ug[8]; 00569 ul[7] = R[1][0]*ug[6] + R[1][1]*ug[7] + R[1][2]*ug[8]; 00570 ul[8] = R[2][0]*ug[6] + R[2][1]*ug[7] + R[2][2]*ug[8]; 00571 00572 ul[9] = R[0][0]*ug[9] + R[0][1]*ug[10] + R[0][2]*ug[11]; 00573 ul[10] = R[1][0]*ug[9] + R[1][1]*ug[10] + R[1][2]*ug[11]; 00574 ul[11] = R[2][0]*ug[9] + R[2][1]*ug[10] + R[2][2]*ug[11]; 00575 00576 static double Wu[3]; 00577 if (nodeIOffset) { 00578 Wu[0] = nodeIOffset[2]*ug[4] - nodeIOffset[1]*ug[5]; 00579 Wu[1] = -nodeIOffset[2]*ug[3] + nodeIOffset[0]*ug[5]; 00580 Wu[2] = nodeIOffset[1]*ug[3] - nodeIOffset[0]*ug[4]; 00581 00582 ul[0] += R[0][0]*Wu[0] + R[0][1]*Wu[1] + R[0][2]*Wu[2]; 00583 ul[1] += R[1][0]*Wu[0] + R[1][1]*Wu[1] + R[1][2]*Wu[2]; 00584 ul[2] += R[2][0]*Wu[0] + R[2][1]*Wu[1] + R[2][2]*Wu[2]; 00585 } 00586 00587 if (nodeJOffset) { 00588 Wu[0] = nodeJOffset[2]*ug[10] - nodeJOffset[1]*ug[11]; 00589 Wu[1] = -nodeJOffset[2]*ug[9] + nodeJOffset[0]*ug[11]; 00590 Wu[2] = nodeJOffset[1]*ug[9] - nodeJOffset[0]*ug[10]; 00591 00592 ul[6] += R[0][0]*Wu[0] + R[0][1]*Wu[1] + R[0][2]*Wu[2]; 00593 ul[7] += R[1][0]*Wu[0] + R[1][1]*Wu[1] + R[1][2]*Wu[2]; 00594 ul[8] += R[2][0]*Wu[0] + R[2][1]*Wu[1] + R[2][2]*Wu[2]; 00595 } 00596 00597 ub(0) = ul[6] - ul[0]; 00598 double tmp; 00599 tmp = oneOverL*(ul[1]-ul[7]); 00600 ub(1) = ul[5] + tmp; 00601 ub(2) = ul[11] + tmp; 00602 tmp = oneOverL*(ul[8]-ul[2]); 00603 ub(3) = ul[4] + tmp; 00604 ub(4) = ul[10] + tmp; 00605 ub(5) = ul[9] - ul[3]; 00606 00607 return ub; 00608 } 00609 00610 00611 const Vector & 00612 PDeltaCrdTransf3d::getBasicTrialVel(void) 00613 { 00614 // determine global velocities 00615 const Vector &vel1 = nodeIPtr->getTrialVel(); 00616 const Vector &vel2 = nodeJPtr->getTrialVel(); 00617 00618 static double vg[12]; 00619 for (int i = 0; i < 6; i++) { 00620 vg[i] = vel1(i); 00621 vg[i+6] = vel2(i); 00622 } 00623 00624 double oneOverL = 1.0/L; 00625 00626 static Vector vb(6); 00627 00628 static double vl[12]; 00629 00630 vl[0] = R[0][0]*vg[0] + R[0][1]*vg[1] + R[0][2]*vg[2]; 00631 vl[1] = R[1][0]*vg[0] + R[1][1]*vg[1] + R[1][2]*vg[2]; 00632 vl[2] = R[2][0]*vg[0] + R[2][1]*vg[1] + R[2][2]*vg[2]; 00633 00634 vl[3] = R[0][0]*vg[3] + R[0][1]*vg[4] + R[0][2]*vg[5]; 00635 vl[4] = R[1][0]*vg[3] + R[1][1]*vg[4] + R[1][2]*vg[5]; 00636 vl[5] = R[2][0]*vg[3] + R[2][1]*vg[4] + R[2][2]*vg[5]; 00637 00638 vl[6] = R[0][0]*vg[6] + R[0][1]*vg[7] + R[0][2]*vg[8]; 00639 vl[7] = R[1][0]*vg[6] + R[1][1]*vg[7] + R[1][2]*vg[8]; 00640 vl[8] = R[2][0]*vg[6] + R[2][1]*vg[7] + R[2][2]*vg[8]; 00641 00642 vl[9] = R[0][0]*vg[9] + R[0][1]*vg[10] + R[0][2]*vg[11]; 00643 vl[10] = R[1][0]*vg[9] + R[1][1]*vg[10] + R[1][2]*vg[11]; 00644 vl[11] = R[2][0]*vg[9] + R[2][1]*vg[10] + R[2][2]*vg[11]; 00645 00646 static double Wu[3]; 00647 if (nodeIOffset) { 00648 Wu[0] = nodeIOffset[2]*vg[4] - nodeIOffset[1]*vg[5]; 00649 Wu[1] = -nodeIOffset[2]*vg[3] + nodeIOffset[0]*vg[5]; 00650 Wu[2] = nodeIOffset[1]*vg[3] - nodeIOffset[0]*vg[4]; 00651 00652 vl[0] += R[0][0]*Wu[0] + R[0][1]*Wu[1] + R[0][2]*Wu[2]; 00653 vl[1] += R[1][0]*Wu[0] + R[1][1]*Wu[1] + R[1][2]*Wu[2]; 00654 vl[2] += R[2][0]*Wu[0] + R[2][1]*Wu[1] + R[2][2]*Wu[2]; 00655 } 00656 00657 if (nodeJOffset) { 00658 Wu[0] = nodeJOffset[2]*vg[10] - nodeJOffset[1]*vg[11]; 00659 Wu[1] = -nodeJOffset[2]*vg[9] + nodeJOffset[0]*vg[11]; 00660 Wu[2] = nodeJOffset[1]*vg[9] - nodeJOffset[0]*vg[10]; 00661 00662 vl[6] += R[0][0]*Wu[0] + R[0][1]*Wu[1] + R[0][2]*Wu[2]; 00663 vl[7] += R[1][0]*Wu[0] + R[1][1]*Wu[1] + R[1][2]*Wu[2]; 00664 vl[8] += R[2][0]*Wu[0] + R[2][1]*Wu[1] + R[2][2]*Wu[2]; 00665 } 00666 00667 vb(0) = vl[6] - vl[0]; 00668 double tmp; 00669 tmp = oneOverL*(vl[1]-vl[7]); 00670 vb(1) = vl[5] + tmp; 00671 vb(2) = vl[11] + tmp; 00672 tmp = oneOverL*(vl[8]-vl[2]); 00673 vb(3) = vl[4] + tmp; 00674 vb(4) = vl[10] + tmp; 00675 vb(5) = vl[9] - vl[3]; 00676 00677 return vb; 00678 } 00679 00680 00681 const Vector & 00682 PDeltaCrdTransf3d::getBasicTrialAccel(void) 00683 { 00684 // determine global accelerations 00685 const Vector &accel1 = nodeIPtr->getTrialAccel(); 00686 const Vector &accel2 = nodeJPtr->getTrialAccel(); 00687 00688 static double ag[12]; 00689 for (int i = 0; i < 6; i++) { 00690 ag[i] = accel1(i); 00691 ag[i+6] = accel2(i); 00692 } 00693 00694 double oneOverL = 1.0/L; 00695 00696 static Vector ab(6); 00697 00698 static double al[12]; 00699 00700 al[0] = R[0][0]*ag[0] + R[0][1]*ag[1] + R[0][2]*ag[2]; 00701 al[1] = R[1][0]*ag[0] + R[1][1]*ag[1] + R[1][2]*ag[2]; 00702 al[2] = R[2][0]*ag[0] + R[2][1]*ag[1] + R[2][2]*ag[2]; 00703 00704 al[3] = R[0][0]*ag[3] + R[0][1]*ag[4] + R[0][2]*ag[5]; 00705 al[4] = R[1][0]*ag[3] + R[1][1]*ag[4] + R[1][2]*ag[5]; 00706 al[5] = R[2][0]*ag[3] + R[2][1]*ag[4] + R[2][2]*ag[5]; 00707 00708 al[6] = R[0][0]*ag[6] + R[0][1]*ag[7] + R[0][2]*ag[8]; 00709 al[7] = R[1][0]*ag[6] + R[1][1]*ag[7] + R[1][2]*ag[8]; 00710 al[8] = R[2][0]*ag[6] + R[2][1]*ag[7] + R[2][2]*ag[8]; 00711 00712 al[9] = R[0][0]*ag[9] + R[0][1]*ag[10] + R[0][2]*ag[11]; 00713 al[10] = R[1][0]*ag[9] + R[1][1]*ag[10] + R[1][2]*ag[11]; 00714 al[11] = R[2][0]*ag[9] + R[2][1]*ag[10] + R[2][2]*ag[11]; 00715 00716 static double Wu[3]; 00717 if (nodeIOffset) { 00718 Wu[0] = nodeIOffset[2]*ag[4] - nodeIOffset[1]*ag[5]; 00719 Wu[1] = -nodeIOffset[2]*ag[3] + nodeIOffset[0]*ag[5]; 00720 Wu[2] = nodeIOffset[1]*ag[3] - nodeIOffset[0]*ag[4]; 00721 00722 al[0] += R[0][0]*Wu[0] + R[0][1]*Wu[1] + R[0][2]*Wu[2]; 00723 al[1] += R[1][0]*Wu[0] + R[1][1]*Wu[1] + R[1][2]*Wu[2]; 00724 al[2] += R[2][0]*Wu[0] + R[2][1]*Wu[1] + R[2][2]*Wu[2]; 00725 } 00726 00727 if (nodeJOffset) { 00728 Wu[0] = nodeJOffset[2]*ag[10] - nodeJOffset[1]*ag[11]; 00729 Wu[1] = -nodeJOffset[2]*ag[9] + nodeJOffset[0]*ag[11]; 00730 Wu[2] = nodeJOffset[1]*ag[9] - nodeJOffset[0]*ag[10]; 00731 00732 al[6] += R[0][0]*Wu[0] + R[0][1]*Wu[1] + R[0][2]*Wu[2]; 00733 al[7] += R[1][0]*Wu[0] + R[1][1]*Wu[1] + R[1][2]*Wu[2]; 00734 al[8] += R[2][0]*Wu[0] + R[2][1]*Wu[1] + R[2][2]*Wu[2]; 00735 } 00736 00737 ab(0) = al[6] - al[0]; 00738 double tmp; 00739 tmp = oneOverL*(al[1]-al[7]); 00740 ab(1) = al[5] + tmp; 00741 ab(2) = al[11] + tmp; 00742 tmp = oneOverL*(al[8]-al[2]); 00743 ab(3) = al[4] + tmp; 00744 ab(4) = al[10] + tmp; 00745 ab(5) = al[9] - al[3]; 00746 00747 return ab; 00748 } 00749 00750 00751 const Vector & 00752 PDeltaCrdTransf3d::getGlobalResistingForce(const Vector &pb, const Vector &p0) 00753 { 00754 // transform resisting forces from the basic system to local coordinates 00755 static double pl[12]; 00756 00757 double q0 = pb(0); 00758 double q1 = pb(1); 00759 double q2 = pb(2); 00760 double q3 = pb(3); 00761 double q4 = pb(4); 00762 double q5 = pb(5); 00763 00764 double oneOverL = 1.0/L; 00765 00766 pl[0] = -q0; 00767 pl[1] = oneOverL*(q1+q2); 00768 pl[2] = -oneOverL*(q3+q4); 00769 pl[3] = -q5; 00770 pl[4] = q3; 00771 pl[5] = q1; 00772 pl[6] = q0; 00773 pl[7] = -pl[1]; 00774 pl[8] = -pl[2]; 00775 pl[9] = q5; 00776 pl[10] = q4; 00777 pl[11] = q2; 00778 00779 pl[0] += p0(0); 00780 pl[1] += p0(1); 00781 pl[7] += p0(2); 00782 pl[2] += p0(3); 00783 pl[8] += p0(4); 00784 00785 // Include leaning column effects (P-Delta) 00786 double NoverL; 00787 NoverL = ul17*q0*oneOverL; 00788 pl[1] += NoverL; 00789 pl[7] -= NoverL; 00790 NoverL = ul28*q0*oneOverL; 00791 pl[2] += NoverL; 00792 pl[8] -= NoverL; 00793 00794 // transform resisting forces from local to global coordinates 00795 static Vector pg(12); 00796 00797 pg(0) = R[0][0]*pl[0] + R[1][0]*pl[1] + R[2][0]*pl[2]; 00798 pg(1) = R[0][1]*pl[0] + R[1][1]*pl[1] + R[2][1]*pl[2]; 00799 pg(2) = R[0][2]*pl[0] + R[1][2]*pl[1] + R[2][2]*pl[2]; 00800 00801 pg(3) = R[0][0]*pl[3] + R[1][0]*pl[4] + R[2][0]*pl[5]; 00802 pg(4) = R[0][1]*pl[3] + R[1][1]*pl[4] + R[2][1]*pl[5]; 00803 pg(5) = R[0][2]*pl[3] + R[1][2]*pl[4] + R[2][2]*pl[5]; 00804 00805 pg(6) = R[0][0]*pl[6] + R[1][0]*pl[7] + R[2][0]*pl[8]; 00806 pg(7) = R[0][1]*pl[6] + R[1][1]*pl[7] + R[2][1]*pl[8]; 00807 pg(8) = R[0][2]*pl[6] + R[1][2]*pl[7] + R[2][2]*pl[8]; 00808 00809 pg(9) = R[0][0]*pl[9] + R[1][0]*pl[10] + R[2][0]*pl[11]; 00810 pg(10) = R[0][1]*pl[9] + R[1][1]*pl[10] + R[2][1]*pl[11]; 00811 pg(11) = R[0][2]*pl[9] + R[1][2]*pl[10] + R[2][2]*pl[11]; 00812 00813 if (nodeIOffset) { 00814 pg(3) += -nodeIOffset[2]*pg(1) + nodeIOffset[1]*pg(2); 00815 pg(4) += nodeIOffset[2]*pg(0) - nodeIOffset[0]*pg(2); 00816 pg(5) += -nodeIOffset[1]*pg(0) + nodeIOffset[0]*pg(1); 00817 } 00818 00819 if (nodeJOffset) { 00820 pg(9) += -nodeJOffset[2]*pg(7) + nodeJOffset[1]*pg(8); 00821 pg(10) += nodeJOffset[2]*pg(6) - nodeJOffset[0]*pg(8); 00822 pg(11) += -nodeJOffset[1]*pg(6) + nodeJOffset[0]*pg(7); 00823 } 00824 00825 return pg; 00826 } 00827 00828 00829 const Matrix & 00830 PDeltaCrdTransf3d::getGlobalStiffMatrix (const Matrix &KB, const Vector &pb) 00831 { 00832 static Matrix kg(12,12); // Global stiffness for return 00833 static double kb[6][6]; // Basic stiffness 00834 static double kl[12][12]; // Local stiffness 00835 static double tmp[12][12]; // Temporary storage 00836 00837 double oneOverL = 1.0/L; 00838 00839 int i,j; 00840 for (i = 0; i < 6; i++) 00841 for (j = 0; j < 6; j++) 00842 kb[i][j] = KB(i,j); 00843 00844 // Transform basic stiffness to local system 00845 // First compute kb*T_{bl} 00846 for (i = 0; i < 6; i++) { 00847 tmp[i][0] = -kb[i][0]; 00848 tmp[i][1] = oneOverL*(kb[i][1]+kb[i][2]); 00849 tmp[i][2] = -oneOverL*(kb[i][3]+kb[i][4]); 00850 tmp[i][3] = -kb[i][5]; 00851 tmp[i][4] = kb[i][3]; 00852 tmp[i][5] = kb[i][1]; 00853 tmp[i][6] = kb[i][0]; 00854 tmp[i][7] = -tmp[i][1]; 00855 tmp[i][8] = -tmp[i][2]; 00856 tmp[i][9] = kb[i][5]; 00857 tmp[i][10] = kb[i][4]; 00858 tmp[i][11] = kb[i][2]; 00859 } 00860 00861 // Now compute T'_{bl}*(kb*T_{bl}) 00862 for (i = 0; i < 12; i++) { 00863 kl[0][i] = -tmp[0][i]; 00864 kl[1][i] = oneOverL*(tmp[1][i]+tmp[2][i]); 00865 kl[2][i] = -oneOverL*(tmp[3][i]+tmp[4][i]); 00866 kl[3][i] = -tmp[5][i]; 00867 kl[4][i] = tmp[3][i]; 00868 kl[5][i] = tmp[1][i]; 00869 kl[6][i] = tmp[0][i]; 00870 kl[7][i] = -kl[1][i]; 00871 kl[8][i] = -kl[2][i]; 00872 kl[9][i] = tmp[5][i]; 00873 kl[10][i] = tmp[4][i]; 00874 kl[11][i] = tmp[2][i]; 00875 } 00876 00877 // Include geometric stiffness effects in local system 00878 double NoverL = pb(0)*oneOverL; 00879 kl[1][1] += NoverL; 00880 kl[2][2] += NoverL; 00881 kl[7][7] += NoverL; 00882 kl[8][8] += NoverL; 00883 kl[1][7] -= NoverL; 00884 kl[7][1] -= NoverL; 00885 kl[2][8] -= NoverL; 00886 kl[8][2] -= NoverL; 00887 00888 static double RWI[3][3]; 00889 00890 if (nodeIOffset) { 00891 // Compute RWI 00892 RWI[0][0] = -R[0][1]*nodeIOffset[2] + R[0][2]*nodeIOffset[1]; 00893 RWI[1][0] = -R[1][1]*nodeIOffset[2] + R[1][2]*nodeIOffset[1]; 00894 RWI[2][0] = -R[2][1]*nodeIOffset[2] + R[2][2]*nodeIOffset[1]; 00895 00896 RWI[0][1] = R[0][0]*nodeIOffset[2] - R[0][2]*nodeIOffset[0]; 00897 RWI[1][1] = R[1][0]*nodeIOffset[2] - R[1][2]*nodeIOffset[0]; 00898 RWI[2][1] = R[2][0]*nodeIOffset[2] - R[2][2]*nodeIOffset[0]; 00899 00900 RWI[0][2] = -R[0][0]*nodeIOffset[1] + R[0][1]*nodeIOffset[0]; 00901 RWI[1][2] = -R[1][0]*nodeIOffset[1] + R[1][1]*nodeIOffset[0]; 00902 RWI[2][2] = -R[2][0]*nodeIOffset[1] + R[2][1]*nodeIOffset[0]; 00903 } 00904 00905 static double RWJ[3][3]; 00906 00907 if (nodeJOffset) { 00908 // Compute RWJ 00909 RWJ[0][0] = -R[0][1]*nodeJOffset[2] + R[0][2]*nodeJOffset[1]; 00910 RWJ[1][0] = -R[1][1]*nodeJOffset[2] + R[1][2]*nodeJOffset[1]; 00911 RWJ[2][0] = -R[2][1]*nodeJOffset[2] + R[2][2]*nodeJOffset[1]; 00912 00913 RWJ[0][1] = R[0][0]*nodeJOffset[2] - R[0][2]*nodeJOffset[0]; 00914 RWJ[1][1] = R[1][0]*nodeJOffset[2] - R[1][2]*nodeJOffset[0]; 00915 RWJ[2][1] = R[2][0]*nodeJOffset[2] - R[2][2]*nodeJOffset[0]; 00916 00917 RWJ[0][2] = -R[0][0]*nodeJOffset[1] + R[0][1]*nodeJOffset[0]; 00918 RWJ[1][2] = -R[1][0]*nodeJOffset[1] + R[1][1]*nodeJOffset[0]; 00919 RWJ[2][2] = -R[2][0]*nodeJOffset[1] + R[2][1]*nodeJOffset[0]; 00920 } 00921 00922 // Transform local stiffness to global system 00923 // First compute kl*T_{lg} 00924 int m; 00925 for (m = 0; m < 12; m++) { 00926 tmp[m][0] = kl[m][0]*R[0][0] + kl[m][1]*R[1][0] + kl[m][2]*R[2][0]; 00927 tmp[m][1] = kl[m][0]*R[0][1] + kl[m][1]*R[1][1] + kl[m][2]*R[2][1]; 00928 tmp[m][2] = kl[m][0]*R[0][2] + kl[m][1]*R[1][2] + kl[m][2]*R[2][2]; 00929 00930 tmp[m][3] = kl[m][3]*R[0][0] + kl[m][4]*R[1][0] + kl[m][5]*R[2][0]; 00931 tmp[m][4] = kl[m][3]*R[0][1] + kl[m][4]*R[1][1] + kl[m][5]*R[2][1]; 00932 tmp[m][5] = kl[m][3]*R[0][2] + kl[m][4]*R[1][2] + kl[m][5]*R[2][2]; 00933 00934 if (nodeIOffset) { 00935 tmp[m][3] += kl[m][0]*RWI[0][0] + kl[m][1]*RWI[1][0] + kl[m][2]*RWI[2][0]; 00936 tmp[m][4] += kl[m][0]*RWI[0][1] + kl[m][1]*RWI[1][1] + kl[m][2]*RWI[2][1]; 00937 tmp[m][5] += kl[m][0]*RWI[0][2] + kl[m][1]*RWI[1][2] + kl[m][2]*RWI[2][2]; 00938 } 00939 00940 tmp[m][6] = kl[m][6]*R[0][0] + kl[m][7]*R[1][0] + kl[m][8]*R[2][0]; 00941 tmp[m][7] = kl[m][6]*R[0][1] + kl[m][7]*R[1][1] + kl[m][8]*R[2][1]; 00942 tmp[m][8] = kl[m][6]*R[0][2] + kl[m][7]*R[1][2] + kl[m][8]*R[2][2]; 00943 00944 tmp[m][9] = kl[m][9]*R[0][0] + kl[m][10]*R[1][0] + kl[m][11]*R[2][0]; 00945 tmp[m][10] = kl[m][9]*R[0][1] + kl[m][10]*R[1][1] + kl[m][11]*R[2][1]; 00946 tmp[m][11] = kl[m][9]*R[0][2] + kl[m][10]*R[1][2] + kl[m][11]*R[2][2]; 00947 00948 if (nodeJOffset) { 00949 tmp[m][9] += kl[m][6]*RWJ[0][0] + kl[m][7]*RWJ[1][0] + kl[m][8]*RWJ[2][0]; 00950 tmp[m][10] += kl[m][6]*RWJ[0][1] + kl[m][7]*RWJ[1][1] + kl[m][8]*RWJ[2][1]; 00951 tmp[m][11] += kl[m][6]*RWJ[0][2] + kl[m][7]*RWJ[1][2] + kl[m][8]*RWJ[2][2]; 00952 } 00953 00954 } 00955 00956 // Now compute T'_{lg}*(kl*T_{lg}) 00957 for (m = 0; m < 12; m++) { 00958 kg(0,m) = R[0][0]*tmp[0][m] + R[1][0]*tmp[1][m] + R[2][0]*tmp[2][m]; 00959 kg(1,m) = R[0][1]*tmp[0][m] + R[1][1]*tmp[1][m] + R[2][1]*tmp[2][m]; 00960 kg(2,m) = R[0][2]*tmp[0][m] + R[1][2]*tmp[1][m] + R[2][2]*tmp[2][m]; 00961 00962 kg(3,m) = R[0][0]*tmp[3][m] + R[1][0]*tmp[4][m] + R[2][0]*tmp[5][m]; 00963 kg(4,m) = R[0][1]*tmp[3][m] + R[1][1]*tmp[4][m] + R[2][1]*tmp[5][m]; 00964 kg(5,m) = R[0][2]*tmp[3][m] + R[1][2]*tmp[4][m] + R[2][2]*tmp[5][m]; 00965 00966 if (nodeIOffset) { 00967 kg(3,m) += RWI[0][0]*tmp[0][m] + RWI[1][0]*tmp[1][m] + RWI[2][0]*tmp[2][m]; 00968 kg(4,m) += RWI[0][1]*tmp[0][m] + RWI[1][1]*tmp[1][m] + RWI[2][1]*tmp[2][m]; 00969 kg(5,m) += RWI[0][2]*tmp[0][m] + RWI[1][2]*tmp[1][m] + RWI[2][2]*tmp[2][m]; 00970 } 00971 00972 kg(6,m) = R[0][0]*tmp[6][m] + R[1][0]*tmp[7][m] + R[2][0]*tmp[8][m]; 00973 kg(7,m) = R[0][1]*tmp[6][m] + R[1][1]*tmp[7][m] + R[2][1]*tmp[8][m]; 00974 kg(8,m) = R[0][2]*tmp[6][m] + R[1][2]*tmp[7][m] + R[2][2]*tmp[8][m]; 00975 00976 kg(9,m) = R[0][0]*tmp[9][m] + R[1][0]*tmp[10][m] + R[2][0]*tmp[11][m]; 00977 kg(10,m) = R[0][1]*tmp[9][m] + R[1][1]*tmp[10][m] + R[2][1]*tmp[11][m]; 00978 kg(11,m) = R[0][2]*tmp[9][m] + R[1][2]*tmp[10][m] + R[2][2]*tmp[11][m]; 00979 00980 if (nodeJOffset) { 00981 kg(9,m) += RWJ[0][0]*tmp[6][m] + RWJ[1][0]*tmp[7][m] + RWJ[2][0]*tmp[8][m]; 00982 kg(10,m) += RWJ[0][1]*tmp[6][m] + RWJ[1][1]*tmp[7][m] + RWJ[2][1]*tmp[8][m]; 00983 kg(11,m) += RWJ[0][2]*tmp[6][m] + RWJ[1][2]*tmp[7][m] + RWJ[2][2]*tmp[8][m]; 00984 } 00985 } 00986 00987 return kg; 00988 } 00989 00990 00991 const Matrix & 00992 PDeltaCrdTransf3d::getInitialGlobalStiffMatrix (const Matrix &KB) 00993 { 00994 static Matrix kg(12,12); // Global stiffness for return 00995 static double kb[6][6]; // Basic stiffness 00996 static double kl[12][12]; // Local stiffness 00997 static double tmp[12][12]; // Temporary storage 00998 00999 double oneOverL = 1.0/L; 01000 01001 int i,j; 01002 for (i = 0; i < 6; i++) 01003 for (j = 0; j < 6; j++) 01004 kb[i][j] = KB(i,j); 01005 01006 // Transform basic stiffness to local system 01007 // First compute kb*T_{bl} 01008 for (i = 0; i < 6; i++) { 01009 tmp[i][0] = -kb[i][0]; 01010 tmp[i][1] = oneOverL*(kb[i][1]+kb[i][2]); 01011 tmp[i][2] = -oneOverL*(kb[i][3]+kb[i][4]); 01012 tmp[i][3] = -kb[i][5]; 01013 tmp[i][4] = kb[i][3]; 01014 tmp[i][5] = kb[i][1]; 01015 tmp[i][6] = kb[i][0]; 01016 tmp[i][7] = -tmp[i][1]; 01017 tmp[i][8] = -tmp[i][2]; 01018 tmp[i][9] = kb[i][5]; 01019 tmp[i][10] = kb[i][4]; 01020 tmp[i][11] = kb[i][2]; 01021 } 01022 01023 // Now compute T'_{bl}*(kb*T_{bl}) 01024 for (i = 0; i < 12; i++) { 01025 kl[0][i] = -tmp[0][i]; 01026 kl[1][i] = oneOverL*(tmp[1][i]+tmp[2][i]); 01027 kl[2][i] = -oneOverL*(tmp[3][i]+tmp[4][i]); 01028 kl[3][i] = -tmp[5][i]; 01029 kl[4][i] = tmp[3][i]; 01030 kl[5][i] = tmp[1][i]; 01031 kl[6][i] = tmp[0][i]; 01032 kl[7][i] = -kl[1][i]; 01033 kl[8][i] = -kl[2][i]; 01034 kl[9][i] = tmp[5][i]; 01035 kl[10][i] = tmp[4][i]; 01036 kl[11][i] = tmp[2][i]; 01037 } 01038 01039 // Include geometric stiffness effects in local system 01040 // double NoverL = pb(0)*oneOverL; 01041 //kl[1][1] += NoverL; 01042 //kl[2][2] += NoverL; 01043 //kl[7][7] += NoverL; 01044 //kl[8][8] += NoverL; 01045 //kl[1][7] -= NoverL; 01046 //kl[7][1] -= NoverL; 01047 //kl[2][8] -= NoverL; 01048 //kl[8][2] -= NoverL; 01049 01050 01051 static double RWI[3][3]; 01052 01053 if (nodeIOffset) { 01054 // Compute RWI 01055 RWI[0][0] = -R[0][1]*nodeIOffset[2] + R[0][2]*nodeIOffset[1]; 01056 RWI[1][0] = -R[1][1]*nodeIOffset[2] + R[1][2]*nodeIOffset[1]; 01057 RWI[2][0] = -R[2][1]*nodeIOffset[2] + R[2][2]*nodeIOffset[1]; 01058 01059 RWI[0][1] = R[0][0]*nodeIOffset[2] - R[0][2]*nodeIOffset[0]; 01060 RWI[1][1] = R[1][0]*nodeIOffset[2] - R[1][2]*nodeIOffset[0]; 01061 RWI[2][1] = R[2][0]*nodeIOffset[2] - R[2][2]*nodeIOffset[0]; 01062 01063 RWI[0][2] = -R[0][0]*nodeIOffset[1] + R[0][1]*nodeIOffset[0]; 01064 RWI[1][2] = -R[1][0]*nodeIOffset[1] + R[1][1]*nodeIOffset[0]; 01065 RWI[2][2] = -R[2][0]*nodeIOffset[1] + R[2][1]*nodeIOffset[0]; 01066 } 01067 01068 static double RWJ[3][3]; 01069 01070 if (nodeJOffset) { 01071 // Compute RWJ 01072 RWJ[0][0] = -R[0][1]*nodeJOffset[2] + R[0][2]*nodeJOffset[1]; 01073 RWJ[1][0] = -R[1][1]*nodeJOffset[2] + R[1][2]*nodeJOffset[1]; 01074 RWJ[2][0] = -R[2][1]*nodeJOffset[2] + R[2][2]*nodeJOffset[1]; 01075 01076 RWJ[0][1] = R[0][0]*nodeJOffset[2] - R[0][2]*nodeJOffset[0]; 01077 RWJ[1][1] = R[1][0]*nodeJOffset[2] - R[1][2]*nodeJOffset[0]; 01078 RWJ[2][1] = R[2][0]*nodeJOffset[2] - R[2][2]*nodeJOffset[0]; 01079 01080 RWJ[0][2] = -R[0][0]*nodeJOffset[1] + R[0][1]*nodeJOffset[0]; 01081 RWJ[1][2] = -R[1][0]*nodeJOffset[1] + R[1][1]*nodeJOffset[0]; 01082 RWJ[2][2] = -R[2][0]*nodeJOffset[1] + R[2][1]*nodeJOffset[0]; 01083 } 01084 01085 // Transform local stiffness to global system 01086 // First compute kl*T_{lg} 01087 01088 int m; 01089 for (m = 0; m < 12; m++) { 01090 tmp[m][0] = kl[m][0]*R[0][0] + kl[m][1]*R[1][0] + kl[m][2]*R[2][0]; 01091 tmp[m][1] = kl[m][0]*R[0][1] + kl[m][1]*R[1][1] + kl[m][2]*R[2][1]; 01092 tmp[m][2] = kl[m][0]*R[0][2] + kl[m][1]*R[1][2] + kl[m][2]*R[2][2]; 01093 01094 tmp[m][3] = kl[m][3]*R[0][0] + kl[m][4]*R[1][0] + kl[m][5]*R[2][0]; 01095 tmp[m][4] = kl[m][3]*R[0][1] + kl[m][4]*R[1][1] + kl[m][5]*R[2][1]; 01096 tmp[m][5] = kl[m][3]*R[0][2] + kl[m][4]*R[1][2] + kl[m][5]*R[2][2]; 01097 01098 if (nodeIOffset) { 01099 tmp[m][3] += kl[m][0]*RWI[0][0] + kl[m][1]*RWI[1][0] + kl[m][2]*RWI[2][0]; 01100 tmp[m][4] += kl[m][0]*RWI[0][1] + kl[m][1]*RWI[1][1] + kl[m][2]*RWI[2][1]; 01101 tmp[m][5] += kl[m][0]*RWI[0][2] + kl[m][1]*RWI[1][2] + kl[m][2]*RWI[2][2]; 01102 } 01103 01104 tmp[m][6] = kl[m][6]*R[0][0] + kl[m][7]*R[1][0] + kl[m][8]*R[2][0]; 01105 tmp[m][7] = kl[m][6]*R[0][1] + kl[m][7]*R[1][1] + kl[m][8]*R[2][1]; 01106 tmp[m][8] = kl[m][6]*R[0][2] + kl[m][7]*R[1][2] + kl[m][8]*R[2][2]; 01107 01108 tmp[m][9] = kl[m][9]*R[0][0] + kl[m][10]*R[1][0] + kl[m][11]*R[2][0]; 01109 tmp[m][10] = kl[m][9]*R[0][1] + kl[m][10]*R[1][1] + kl[m][11]*R[2][1]; 01110 tmp[m][11] = kl[m][9]*R[0][2] + kl[m][10]*R[1][2] + kl[m][11]*R[2][2]; 01111 01112 if (nodeJOffset) { 01113 tmp[m][9] += kl[m][6]*RWJ[0][0] + kl[m][7]*RWJ[1][0] + kl[m][8]*RWJ[2][0]; 01114 tmp[m][10] += kl[m][6]*RWJ[0][1] + kl[m][7]*RWJ[1][1] + kl[m][8]*RWJ[2][1]; 01115 tmp[m][11] += kl[m][6]*RWJ[0][2] + kl[m][7]*RWJ[1][2] + kl[m][8]*RWJ[2][2]; 01116 } 01117 01118 } 01119 01120 // Now compute T'_{lg}*(kl*T_{lg}) 01121 for (m = 0; m < 12; m++) { 01122 kg(0,m) = R[0][0]*tmp[0][m] + R[1][0]*tmp[1][m] + R[2][0]*tmp[2][m]; 01123 kg(1,m) = R[0][1]*tmp[0][m] + R[1][1]*tmp[1][m] + R[2][1]*tmp[2][m]; 01124 kg(2,m) = R[0][2]*tmp[0][m] + R[1][2]*tmp[1][m] + R[2][2]*tmp[2][m]; 01125 01126 kg(3,m) = R[0][0]*tmp[3][m] + R[1][0]*tmp[4][m] + R[2][0]*tmp[5][m]; 01127 kg(4,m) = R[0][1]*tmp[3][m] + R[1][1]*tmp[4][m] + R[2][1]*tmp[5][m]; 01128 kg(5,m) = R[0][2]*tmp[3][m] + R[1][2]*tmp[4][m] + R[2][2]*tmp[5][m]; 01129 01130 if (nodeIOffset) { 01131 kg(3,m) += RWI[0][0]*tmp[0][m] + RWI[1][0]*tmp[1][m] + RWI[2][0]*tmp[2][m]; 01132 kg(4,m) += RWI[0][1]*tmp[0][m] + RWI[1][1]*tmp[1][m] + RWI[2][1]*tmp[2][m]; 01133 kg(5,m) += RWI[0][2]*tmp[0][m] + RWI[1][2]*tmp[1][m] + RWI[2][2]*tmp[2][m]; 01134 } 01135 01136 kg(6,m) = R[0][0]*tmp[6][m] + R[1][0]*tmp[7][m] + R[2][0]*tmp[8][m]; 01137 kg(7,m) = R[0][1]*tmp[6][m] + R[1][1]*tmp[7][m] + R[2][1]*tmp[8][m]; 01138 kg(8,m) = R[0][2]*tmp[6][m] + R[1][2]*tmp[7][m] + R[2][2]*tmp[8][m]; 01139 01140 kg(9,m) = R[0][0]*tmp[9][m] + R[1][0]*tmp[10][m] + R[2][0]*tmp[11][m]; 01141 kg(10,m) = R[0][1]*tmp[9][m] + R[1][1]*tmp[10][m] + R[2][1]*tmp[11][m]; 01142 kg(11,m) = R[0][2]*tmp[9][m] + R[1][2]*tmp[10][m] + R[2][2]*tmp[11][m]; 01143 01144 if (nodeJOffset) { 01145 kg(9,m) += RWJ[0][0]*tmp[6][m] + RWJ[1][0]*tmp[7][m] + RWJ[2][0]*tmp[8][m]; 01146 kg(10,m) += RWJ[0][1]*tmp[6][m] + RWJ[1][1]*tmp[7][m] + RWJ[2][1]*tmp[8][m]; 01147 kg(11,m) += RWJ[0][2]*tmp[6][m] + RWJ[1][2]*tmp[7][m] + RWJ[2][2]*tmp[8][m]; 01148 } 01149 } 01150 01151 return kg; 01152 } 01153 01154 01155 CrdTransf3d * 01156 PDeltaCrdTransf3d::getCopy(void) 01157 { 01158 // create a new instance of PDeltaCrdTransf3d 01159 01160 PDeltaCrdTransf3d *theCopy; 01161 01162 static Vector xz(3); 01163 xz(0) = R[2][0]; 01164 xz(1) = R[2][1]; 01165 xz(2) = R[2][2]; 01166 01167 Vector offsetI(3); 01168 Vector offsetJ(3); 01169 01170 if (nodeIOffset) { 01171 offsetI(0) = nodeIOffset[0]; 01172 offsetI(1) = nodeIOffset[1]; 01173 offsetI(2) = nodeIOffset[2]; 01174 } 01175 01176 if (nodeJOffset) { 01177 offsetJ(0) = nodeJOffset[0]; 01178 offsetJ(1) = nodeJOffset[1]; 01179 offsetJ(2) = nodeJOffset[2]; 01180 } 01181 01182 theCopy = new PDeltaCrdTransf3d(this->getTag(), xz, offsetI, offsetJ); 01183 01184 theCopy->nodeIPtr = nodeIPtr; 01185 theCopy->nodeJPtr = nodeJPtr; 01186 theCopy->L = L; 01187 theCopy->ul17 = ul17; 01188 theCopy->ul28 = ul28; 01189 for (int i = 0; i < 3; i++) 01190 for (int j = 0; j < 3; j++) 01191 theCopy->R[i][j] = R[i][j]; 01192 01193 01194 return theCopy; 01195 } 01196 01197 01198 int 01199 PDeltaCrdTransf3d::sendSelf(int cTag, Channel &theChannel) 01200 { 01201 int res = 0; 01202 01203 static Vector data(23); 01204 data(0) = this->getTag(); 01205 data(1) = L; 01206 01207 if (nodeIOffset != 0) { 01208 data(2) = nodeIOffset[0]; 01209 data(3) = nodeIOffset[1]; 01210 data(4) = nodeIOffset[2]; 01211 } else { 01212 data(2) = 0.0; 01213 data(3) = 0.0; 01214 data(4) = 0.0; 01215 } 01216 01217 if (nodeJOffset != 0) { 01218 data(5) = nodeJOffset[0]; 01219 data(6) = nodeJOffset[1]; 01220 data(7) = nodeJOffset[2]; 01221 } else { 01222 data(5) = 0.0; 01223 data(6) = 0.0; 01224 data(7) = 0.0; 01225 } 01226 01227 if (nodeIInitialDisp != 0) { 01228 data(8) = nodeIInitialDisp[0]; 01229 data(9) = nodeIInitialDisp[1]; 01230 data(10) = nodeIInitialDisp[2]; 01231 data(11) = nodeIInitialDisp[3]; 01232 data(12) = nodeIInitialDisp[4]; 01233 data(13) = nodeIInitialDisp[5]; 01234 } else { 01235 data(8) = 0.0; 01236 data(9) = 0.0; 01237 data(10) = 0.0; 01238 data(11) = 0.0; 01239 data(12) = 0.0; 01240 data(13) = 0.0; 01241 } 01242 01243 if (nodeJInitialDisp != 0) { 01244 data(14) = nodeJInitialDisp[0]; 01245 data(15) = nodeJInitialDisp[1]; 01246 data(16) = nodeJInitialDisp[2]; 01247 data(17) = nodeJInitialDisp[3]; 01248 data(18) = nodeJInitialDisp[4]; 01249 data(19) = nodeJInitialDisp[5]; 01250 } else { 01251 data(14) = 0.0; 01252 data(15) = 0.0; 01253 data(16) = 0.0; 01254 data(17) = 0.0; 01255 data(18) = 0.0; 01256 data(19) = 0.0; 01257 } 01258 01259 data(20) = R[2][0]; 01260 data(21) = R[2][1]; 01261 data(22) = R[2][2]; 01262 01263 res += theChannel.sendVector(this->getDbTag(), cTag, data); 01264 if (res < 0) { 01265 opserr << "PDeltaCrdTransf3d::sendSelf - failed to send Vector\n"; 01266 return res; 01267 } 01268 01269 return res; 01270 } 01271 01272 01273 int 01274 PDeltaCrdTransf3d::recvSelf(int cTag, Channel &theChannel, FEM_ObjectBroker &theBroker) 01275 { 01276 int res = 0; 01277 01278 static Vector data(13); 01279 01280 res += theChannel.recvVector(this->getDbTag(), cTag, data); 01281 if (res < 0) { 01282 opserr << "PDeltaCrdTransf3d::recvSelf - failed to receive Vector\n"; 01283 return res; 01284 } 01285 01286 this->setTag((int)data(0)); 01287 L = data(1); 01288 data(0) = this->getTag(); 01289 data(1) = L; 01290 01291 int flag; 01292 int i,j; 01293 01294 flag = 0; 01295 for (i=2; i<=4; i++) 01296 if (data(i) != 0.0) 01297 flag = 1; 01298 if (flag == 1) { 01299 if (nodeIOffset == 0) 01300 nodeIOffset = new double[3]; 01301 for (i=2, j=0; i<=4; i++, j++) 01302 nodeIOffset[j] = data(i); 01303 } 01304 01305 flag = 0; 01306 for (i=5; i<=7; i++) 01307 if (data(i) != 0.0) 01308 flag = 1; 01309 if (flag == 1) { 01310 if (nodeJOffset == 0) 01311 nodeJOffset = new double[3]; 01312 for (i=5, j=0; i<=7; i++, j++) 01313 nodeJOffset[j] = data(i); 01314 } 01315 01316 flag = 0; 01317 for (i=8; i<=13; i++) 01318 if (data(i) != 0.0) 01319 flag = 1; 01320 if (flag == 1) { 01321 if (nodeIInitialDisp == 0) 01322 nodeIInitialDisp = new double[6]; 01323 for (i=8, j=0; i<=13; i++, j++) 01324 nodeIInitialDisp[j] = data(i); 01325 } 01326 01327 flag = 0; 01328 for (i=14; i<=19; i++) 01329 if (data(i) != 0.0) 01330 flag = 1; 01331 if (flag == 1) { 01332 if (nodeJInitialDisp == 0) 01333 nodeJInitialDisp = new double [6]; 01334 for (i=14, j=0; i<=19; i++, j++) 01335 nodeJInitialDisp[j] = data(i); 01336 } 01337 01338 R[2][0] = data(20); 01339 R[2][1] = data(21); 01340 R[2][2] = data(22); 01341 01342 initialDispChecked = true; 01343 01344 return res; 01345 } 01346 01347 01348 const Vector & 01349 PDeltaCrdTransf3d::getPointGlobalCoordFromLocal(const Vector &xl) 01350 { 01351 static Vector xg(3); 01352 01353 //xg = nodeIPtr->getCrds() + nodeIOffset; 01354 xg = nodeIPtr->getCrds(); 01355 01356 if (nodeIOffset) { 01357 xg(0) += nodeIOffset[0]; 01358 xg(1) += nodeIOffset[1]; 01359 xg(2) += nodeIOffset[2]; 01360 } 01361 01362 // xg = xg + Rlj'*xl 01363 //xg.addMatrixTransposeVector(1.0, Rlj, xl, 1.0); 01364 xg(0) += R[0][0]*xl(0) + R[1][0]*xl(1) + R[2][0]*xl(2); 01365 xg(1) += R[0][1]*xl(0) + R[1][1]*xl(1) + R[2][1]*xl(2); 01366 xg(2) += R[0][2]*xl(0) + R[1][2]*xl(1) + R[2][2]*xl(2); 01367 01368 return xg; 01369 } 01370 01371 01372 const Vector & 01373 PDeltaCrdTransf3d::getPointGlobalDisplFromBasic (double xi, const Vector &uxb) 01374 { 01375 // determine global displacements 01376 const Vector &disp1 = nodeIPtr->getTrialDisp(); 01377 const Vector &disp2 = nodeJPtr->getTrialDisp(); 01378 01379 static double ug[12]; 01380 for (int i = 0; i < 6; i++) 01381 { 01382 ug[i] = disp1(i); 01383 ug[i+6] = disp2(i); 01384 } 01385 01386 if (nodeIInitialDisp != 0) { 01387 for (int j=0; j<6; j++) 01388 ug[j] -= nodeIInitialDisp[j]; 01389 } 01390 01391 if (nodeJInitialDisp != 0) { 01392 for (int j=0; j<6; j++) 01393 ug[j+6] -= nodeJInitialDisp[j]; 01394 } 01395 01396 // transform global end displacements to local coordinates 01397 //ul.addMatrixVector(0.0, Tlg, ug, 1.0); // ul = Tlg * ug; 01398 static double ul[12]; 01399 01400 ul[0] = R[0][0]*ug[0] + R[0][1]*ug[1] + R[0][2]*ug[2]; 01401 ul[1] = R[1][0]*ug[0] + R[1][1]*ug[1] + R[1][2]*ug[2]; 01402 ul[2] = R[2][0]*ug[0] + R[2][1]*ug[1] + R[2][2]*ug[2]; 01403 01404 ul[7] = R[1][0]*ug[6] + R[1][1]*ug[7] + R[1][2]*ug[8]; 01405 ul[8] = R[2][0]*ug[6] + R[2][1]*ug[7] + R[2][2]*ug[8]; 01406 01407 static double Wu[3]; 01408 if (nodeIOffset) { 01409 Wu[0] = nodeIOffset[2]*ug[4] - nodeIOffset[1]*ug[5]; 01410 Wu[1] = -nodeIOffset[2]*ug[3] + nodeIOffset[0]*ug[5]; 01411 Wu[2] = nodeIOffset[1]*ug[3] - nodeIOffset[0]*ug[4]; 01412 01413 ul[0] += R[0][0]*Wu[0] + R[0][1]*Wu[1] + R[0][2]*Wu[2]; 01414 ul[1] += R[1][0]*Wu[0] + R[1][1]*Wu[1] + R[1][2]*Wu[2]; 01415 ul[2] += R[2][0]*Wu[0] + R[2][1]*Wu[1] + R[2][2]*Wu[2]; 01416 } 01417 01418 if (nodeJOffset) { 01419 Wu[0] = nodeJOffset[2]*ug[10] - nodeJOffset[1]*ug[11]; 01420 Wu[1] = -nodeJOffset[2]*ug[9] + nodeJOffset[0]*ug[11]; 01421 Wu[2] = nodeJOffset[1]*ug[9] - nodeJOffset[0]*ug[10]; 01422 01423 ul[7] += R[1][0]*Wu[0] + R[1][1]*Wu[1] + R[1][2]*Wu[2]; 01424 ul[8] += R[2][0]*Wu[0] + R[2][1]*Wu[1] + R[2][2]*Wu[2]; 01425 } 01426 01427 // compute displacements at point xi, in local coordinates 01428 static double uxl[3]; 01429 static Vector uxg(3); 01430 01431 uxl[0] = uxb(0) + ul[0]; 01432 uxl[1] = uxb(1) + (1-xi)*ul[1] + xi*ul[7]; 01433 uxl[2] = uxb(2) + (1-xi)*ul[2] + xi*ul[8]; 01434 01435 // rotate displacements to global coordinates 01436 // uxg = Rlj'*uxl 01437 //uxg.addMatrixTransposeVector(0.0, Rlj, uxl, 1.0); 01438 uxg(0) = R[0][0]*uxl[0] + R[1][0]*uxl[1] + R[2][0]*uxl[2]; 01439 uxg(1) = R[0][1]*uxl[0] + R[1][1]*uxl[1] + R[2][1]*uxl[2]; 01440 uxg(2) = R[0][2]*uxl[0] + R[1][2]*uxl[1] + R[2][2]*uxl[2]; 01441 01442 return uxg; 01443 } 01444 01445 01446 void 01447 PDeltaCrdTransf3d::Print(OPS_Stream &s, int flag) 01448 { 01449 s << "\nCrdTransf: " << this->getTag() << " Type: PDeltaCrdTransf3d" << endln; 01450 if (nodeIOffset) 01451 s << "\tNode I offset: " << nodeIOffset[0] << " " << nodeIOffset[1] << " "<< nodeIOffset[2] << endln; 01452 if (nodeJOffset) 01453 s << "\tNode J offset: " << nodeJOffset[0] << " " << nodeJOffset[1] << " "<< nodeJOffset[2] << endln; 01454 }
Generated on Mon Oct 23 15:05:00 2006 for OpenSees by |
opensees-support @ berkeley.edu
Supported by the National Science Foundation
©2006, UC Regents