beam3d02.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: 1.5 $ 00022 // $Date: 2003/02/14 23:01:05 $ 00023 // $Source: /usr/local/cvs/OpenSees/SRC/element/beam3d/beam3d02.cpp,v $ 00024 00025 00026 // File: ~/model/beam3d02.C 00027 // 00028 // Written: fmk 11/95 00029 // Revised: 00030 // 00031 // Purpose: This file contains the class definition for beam3d02. 00032 // beam3d02 is a 3d beam element. As such it can only 00033 // connect to a node with 6-dof. 00034 00035 #include <beam3d02.h> 00036 #include <Domain.h> 00037 #include <Channel.h> 00038 #include <FEM_ObjectBroker.h> 00039 00040 #include <math.h> 00041 #include <stdlib.h> 00042 00043 Matrix beam3d02::m(12,12); // these beam members have no mass or damping matrice 00044 Matrix beam3d02::d(12,12); 00045 Matrix beam3d02::k(12,12); 00046 00047 00048 beam3d02::beam3d02() 00049 :Element(0,ELE_TAG_beam3d02), 00050 A(0), E(0), G(0), Jx(0), Iy(0), Iz(0),theta(0), 00051 rForce(12), load(12), 00052 connectedExternalNodes(2), isStiffFormed(0) 00053 { 00054 // does nothing 00055 } 00056 00057 beam3d02::beam3d02(int tag, double a, double e, double g, 00058 double jx, double iy, double iz, int Nd1, int Nd2, 00059 double Theta) 00060 00061 :Element(tag,ELE_TAG_beam3d02), 00062 A(a), E(e), G(g), Jx(jx), Iy(iy), Iz(iz), theta(Theta), L(0), 00063 rForce(12), load(12), 00064 connectedExternalNodes(2), isStiffFormed(0) 00065 { 00066 connectedExternalNodes(0) = Nd1; 00067 connectedExternalNodes(1) = Nd2; 00068 00069 theNodes[0] = 0; 00070 theNodes[1] = 0; 00071 } 00072 00073 00074 // ~beam3d02(): 00075 // destructor 00076 00077 beam3d02::~beam3d02() 00078 { 00079 00080 } 00081 00082 00083 00084 int 00085 beam3d02::getNumExternalNodes(void) const 00086 { 00087 return 2; 00088 } 00089 00090 const ID & 00091 beam3d02::getExternalNodes(void) 00092 { 00093 return connectedExternalNodes; 00094 } 00095 00096 00097 Node ** 00098 beam3d02::getNodePtrs(void) 00099 { 00100 return theNodes; 00101 } 00102 00103 00104 int 00105 beam3d02::getNumDOF(void) { 00106 int i =12; 00107 return i; 00108 } 00109 00110 00111 int 00112 beam3d02::revertToLastCommit() 00113 { 00114 return 0; 00115 // linear element - nothing to commit 00116 } 00117 00118 const Matrix & 00119 beam3d02::getTangentStiff(void) 00120 { 00121 return this->getStiff(); 00122 } 00123 00124 const Matrix & 00125 beam3d02::getInitialStiff(void) 00126 { 00127 return this->getStiff(); 00128 } 00129 00130 00131 // const Matrix &getStiff(): 00132 // Method to return the stiffness matrix. 00133 00134 00135 void 00136 beam3d02::setDomain(Domain *theDomain) 00137 { 00138 00139 int Nd1, Nd2; 00140 Nd1 = connectedExternalNodes(0); 00141 Nd2 = connectedExternalNodes(1); 00142 00143 Node *end1Ptr = theDomain->getNode(Nd1); 00144 Node *end2Ptr = theDomain->getNode(Nd2); 00145 theNodes[0] = end1Ptr; 00146 theNodes[1] = end2Ptr; 00147 00148 if (end1Ptr == 0) { 00149 opserr << "beam3d02::getStiff: Nd1: "; 00150 opserr << Nd1 << "does not exist in model\n"; 00151 exit(0); 00152 } 00153 if (end2Ptr == 0) { 00154 opserr << "beam3d02::getStiff: Nd2: "; 00155 opserr << Nd2 << "does not exist in model\n"; 00156 exit(0); 00157 } 00158 00159 // call the base class method 00160 this->DomainComponent::setDomain(theDomain); 00161 00162 const Vector &end1Crd = end1Ptr->getCrds(); 00163 const Vector &end2Crd = end2Ptr->getCrds(); 00164 00165 dx = end2Crd(0)-end1Crd(0); 00166 dy = end2Crd(1)-end1Crd(1); 00167 dz = end2Crd(2)-end1Crd(2); 00168 00169 L = sqrt(dx*dx + dy*dy + dz*dz); 00170 double L2 = L*L; 00171 double L3 = L*L*L; 00172 if (L == 0.0) { 00173 opserr << "Element: " << this->getTag(); 00174 opserr << " beam3d02::getStiff: 0 length\n"; 00175 exit(-1); 00176 } 00177 00178 EA = E*A/L; 00179 twoE = 2*E/L; 00180 fourE = 4*E/L; 00181 twelveE = 12*E/L3; 00182 sixE = 6*E/L2; 00183 } 00184 00185 00186 const Matrix & 00187 beam3d02::getStiff(void) 00188 { 00189 if (dy == 0.0 && dz == 0.0 && dx > 0.0 && theta == 90) { 00190 k(0,0) = EA; 00191 k(6,0) = -EA; 00192 k(1,0) = 0; 00193 k(2,0) = 0; 00194 k(3,0) = 0; 00195 k(4,0) = 0; 00196 k(5,0) = 0; 00197 k(7,0) = 0; 00198 k(8,0) = 0; 00199 k(9,0) = 0; 00200 k(10,0) = 0; 00201 k(11,0) = 0; 00202 00203 k(1,1) = twelveE*Iz; 00204 k(5,1) = sixE*Iz; 00205 k(7,1) = -twelveE*Iz; 00206 k(11,1) = sixE*Iz; 00207 k(0,1) = 0; 00208 k(2,1) = 0; 00209 k(3,1) = 0; 00210 k(4,1) = 0; 00211 k(6,1) = 0; 00212 k(8,1) = 0; 00213 k(9,1) = 0; 00214 k(10,1) = 0; 00215 00216 k(2,2) = twelveE*Iy; 00217 k(4,2) = -sixE*Iy; 00218 k(8,2) = -twelveE*Iy; 00219 k(10,2) = -sixE*Iy; 00220 k(0,2) = 0; 00221 k(1,2) = 0; 00222 k(3,2) = 0; 00223 k(5,2) = 0; 00224 k(6,2) = 0; 00225 k(7,2) = 0; 00226 k(9,2) = 0; 00227 k(11,2) = 0; 00228 00229 k(3,3) = G*Jx/L; 00230 k(9,3) = -G*Jx/L; 00231 k(0,3) = 0; 00232 k(1,3) = 0; 00233 k(2,3) = 0; 00234 k(4,3) = 0; 00235 k(5,3) = 0; 00236 k(6,3) = 0; 00237 k(7,3) = 0; 00238 k(8,3) = 0; 00239 k(10,3) = 0; 00240 k(11,3) = 0; 00241 00242 k(2,4) = -sixE*Iy; 00243 k(4,4) = fourE*Iy; 00244 k(8,4) = sixE*Iy; 00245 k(10,4) = twoE*Iy; 00246 k(0,4) = 0; 00247 k(1,4) = 0; 00248 k(3,4) = 0; 00249 k(5,4) = 0; 00250 k(6,4) = 0; 00251 k(7,4) = 0; 00252 k(9,4) = 0; 00253 k(11,4) = 0; 00254 00255 k(1,5) = sixE*Iz; 00256 k(5,5) = fourE*Iz; 00257 k(7,5) = -sixE*Iz; 00258 k(11,5) = twoE*Iz; 00259 k(0,5) = 0; 00260 k(2,5) = 0; 00261 k(3,5) = 0; 00262 k(4,5) = 0; 00263 k(6,5) = 0; 00264 k(8,5) = 0; 00265 k(9,5) = 0; 00266 k(10,5) = 0; 00267 00268 k(0,6) = -EA; 00269 k(6,6) = EA; 00270 k(1,6) = 0; 00271 k(2,6) = 0; 00272 k(3,6) = 0; 00273 k(4,6) = 0; 00274 k(5,6) = 0; 00275 k(7,6) = 0; 00276 k(8,6) = 0; 00277 k(9,6) = 0; 00278 k(10,6) = 0; 00279 k(11,6) = 0; 00280 00281 k(1,7) = -twelveE*Iz; 00282 k(5,7) = -sixE*Iz; 00283 k(7,7) = twelveE*Iz; 00284 k(11,7) = -sixE*Iz; 00285 k(0,7) = 0; 00286 k(2,7) = 0; 00287 k(3,7) = 0; 00288 k(4,7) = 0; 00289 k(6,7) = 0; 00290 k(8,7) = 0; 00291 k(9,7) = 0; 00292 k(10,7) = 0; 00293 00294 k(2,8) = -twelveE*Iy; 00295 k(4,8) = sixE*Iy; 00296 k(8,8) = twelveE*Iy; 00297 k(10,8) = sixE*Iy; 00298 k(0,8) = 0; 00299 k(1,8) = 0; 00300 k(3,8) = 0; 00301 k(5,8) = 0; 00302 k(6,8) = 0; 00303 k(7,8) = 0; 00304 k(9,8) = 0; 00305 k(11,8) = 0; 00306 00307 k(3,9) = -G*Jx/L; 00308 k(9,9) = G*Jx/L; 00309 k(0,9) = 0; 00310 k(1,9) = 0; 00311 k(2,9) = 0; 00312 k(4,9) = 0; 00313 k(5,9) = 0; 00314 k(6,9) = 0; 00315 k(7,9) = 0; 00316 k(8,9) = 0; 00317 k(10,9) = 0; 00318 k(11,9) = 0; 00319 00320 k(2,10) = -sixE*Iy; 00321 k(4,10) = twoE*Iy; 00322 k(8,10) = sixE*Iy; 00323 k(10,10) = fourE*Iy; 00324 k(0,10) = 0; 00325 k(1,10) = 0; 00326 k(3,10) = 0; 00327 k(5,10) = 0; 00328 k(6,10) = 0; 00329 k(7,10) = 0; 00330 k(9,10) = 0; 00331 k(11,10) = 0; 00332 00333 k(1,11) = sixE*Iz; 00334 k(5,11) = twoE*Iz; 00335 k(7,11) = -sixE*Iz; 00336 k(11,11) = fourE*Iz; 00337 k(0,11) = 0; 00338 k(2,11) = 0; 00339 k(3,11) = 0; 00340 k(4,11) = 0; 00341 k(6,11) = 0; 00342 k(8,11) = 0; 00343 k(9,11) = 0; 00344 k(10,11) = 0; 00345 } 00346 00347 else if (dx == 0.0 && dz == 0.0 && dy > 0.0 && theta == 90) { 00348 00349 k(0,0) = twelveE*Iz; 00350 k(5,0) = -sixE*Iz; 00351 k(6,0) = -twelveE*Iz; 00352 k(11,0) = -sixE*Iz; 00353 k(1,0) = 0; 00354 k(2,0) = 0; 00355 k(3,0) = 0; 00356 k(4,0) = 0; 00357 k(7,0) = 0; 00358 k(8,0) = 0; 00359 k(9,0) = 0; 00360 k(10,0) = 0; 00361 00362 k(1,1) = EA; 00363 k(7,1) = -EA; 00364 k(0,1) = 0; 00365 k(2,1) = 0; 00366 k(3,1) = 0; 00367 k(4,1) = 0; 00368 k(5,1) = 0; 00369 k(6,1) = 0; 00370 k(8,1) = 0; 00371 k(9,1) = 0; 00372 k(10,1) = 0; 00373 k(11,1) = 0; 00374 00375 k(2,2) = twelveE*Iy; 00376 k(3,2) = sixE*Iy; 00377 k(8,2) = -twelveE*Iy; 00378 k(9,2) = sixE*Iy; 00379 k(0,2) = 0; 00380 k(1,2) = 0; 00381 k(4,2) = 0; 00382 k(5,2) = 0; 00383 k(6,2) = 0; 00384 k(7,2) = 0; 00385 k(10,2) = 0; 00386 k(11,2) = 0; 00387 00388 k(2,3) = sixE*Iy; 00389 k(3,3) = fourE*Iy; 00390 k(8,3) = -sixE*Iy; 00391 k(9,3) = twoE*Iy; 00392 k(0,3) = 0; 00393 k(1,3) = 0; 00394 k(4,3) = 0; 00395 k(5,3) = 0; 00396 k(6,3) = 0; 00397 k(7,3) = 0; 00398 k(10,3) = 0; 00399 k(11,3) = 0; 00400 00401 k(4,4) = G*Jx/L; 00402 k(10,4) = -G*Jx/L; 00403 k(0,4) = 0; 00404 k(1,4) = 0; 00405 k(2,4) = 0; 00406 k(3,4) = 0; 00407 k(5,4) = 0; 00408 k(6,4) = 0; 00409 k(7,4) = 0; 00410 k(8,4) = 0; 00411 k(9,4) = 0; 00412 k(11,4) = 0; 00413 00414 k(0,5) = -sixE*Iz; 00415 k(5,5) = fourE*Iz; 00416 k(6,5) = sixE*Iz; 00417 k(11,5) = twoE*Iz; 00418 k(1,5) = 0; 00419 k(2,5) = 0; 00420 k(3,5) = 0; 00421 k(4,5) = 0; 00422 k(7,5) = 0; 00423 k(8,5) = 0; 00424 k(9,5) = 0; 00425 k(10,5) = 0; 00426 00427 k(0,6) = -twelveE*Iz; 00428 k(5,6) = sixE*Iz; 00429 k(6,6) = twelveE*Iz; 00430 k(11,6) = sixE*Iz; 00431 k(1,6) = 0; 00432 k(2,6) = 0; 00433 k(3,6) = 0; 00434 k(4,6) = 0; 00435 k(7,6) = 0; 00436 k(8,6) = 0; 00437 k(9,6) = 0; 00438 k(10,6) = 0; 00439 00440 k(1,7) = -EA; 00441 k(7,7) = EA; 00442 k(0,7) = 0; 00443 k(2,7) = 0; 00444 k(3,7) = 0; 00445 k(4,7) = 0; 00446 k(5,7) = 0; 00447 k(6,7) = 0; 00448 k(8,7) = 0; 00449 k(9,7) = 0; 00450 k(10,7) = 0; 00451 k(11,7) = 0; 00452 00453 k(2,8) = -twelveE*Iy; 00454 k(3,8) = -sixE*Iy; 00455 k(8,8) = twelveE*Iy; 00456 k(9,8) = -sixE*Iy; 00457 k(0,8) = 0; 00458 k(1,8) = 0; 00459 k(4,8) = 0; 00460 k(5,8) = 0; 00461 k(6,8) = 0; 00462 k(7,8) = 0; 00463 k(10,8) = 0; 00464 k(11,8) = 0; 00465 00466 k(2,9) = sixE*Iy; 00467 k(3,9) = twoE*Iy; 00468 k(8,9) = -sixE*Iy; 00469 k(9,9) = fourE*Iy; 00470 k(0,9) = 0; 00471 k(1,9) = 0; 00472 k(4,9) = 0; 00473 k(5,9) = 0; 00474 k(6,9) = 0; 00475 k(7,9) = 0; 00476 k(10,9) = 0; 00477 k(11,9) = 0; 00478 00479 k(4,10) = -G*Jx/L; 00480 k(10,10) = G*Jx/L; 00481 k(0,10) = 0; 00482 k(1,10) = 0; 00483 k(2,10) = 0; 00484 k(3,10) = 0; 00485 k(5,10) = 0; 00486 k(6,10) = 0; 00487 k(7,10) = 0; 00488 k(8,10) = 0; 00489 k(9,10) = 0; 00490 k(11,10) = 0; 00491 00492 k(0,11) = -sixE*Iz; 00493 k(5,11) = twoE*Iz; 00494 k(6,11) = sixE*Iz; 00495 k(11,11) = fourE*Iz; 00496 k(1,11) = 0; 00497 k(2,11) = 0; 00498 k(3,11) = 0; 00499 k(4,11) = 0; 00500 k(7,11) = 0; 00501 k(8,11) = 0; 00502 k(9,11) = 0; 00503 k(10,11) = 0; 00504 } 00505 00506 else if (dx == 0.0 && dy == 0.0 && dz > 0.0 && theta == 90) { 00507 // local y of columns in x dirn, local z in y dirn 00508 k.Zero(); 00509 k(0,0) = twelveE*Iz; 00510 k(4,0) = sixE*Iz; 00511 k(6,0) = -twelveE*Iz; 00512 k(10,0) = sixE*Iz; 00513 00514 k(1,1) = twelveE*Iy; 00515 k(3,1) = -sixE*Iy; 00516 k(7,1) = -twelveE*Iy; 00517 k(9,1) = -sixE*Iy; 00518 00519 k(2,2) = EA; 00520 k(8,2) = -EA; 00521 00522 k(1,3) = -sixE*Iy; 00523 k(3,3) = fourE*Iy; 00524 k(7,3) = sixE*Iy; 00525 k(9,3) = twoE*Iy; 00526 00527 k(0,4) = sixE*Iz; 00528 k(4,4) = fourE*Iz; 00529 k(6,4) = -sixE*Iz; 00530 k(10,4) = twoE*Iz; 00531 00532 k(5,5) = G*Jx/L; 00533 k(11,5) = -G*Jx/L; 00534 00535 k(0,6) = -twelveE*Iz; 00536 k(4,6) = -sixE*Iz; 00537 k(6,6) = twelveE*Iz; 00538 k(10,6) = -sixE*Iz; 00539 00540 k(1,7) = -twelveE*Iy; 00541 k(3,7) = sixE*Iy; 00542 k(7,7) = twelveE*Iy; 00543 k(9,7) = sixE*Iy; 00544 00545 k(2,8) = -EA; 00546 k(8,8) = EA; 00547 00548 k(1,9) = -sixE*Iy; 00549 k(3,9) = twoE*Iy; 00550 k(7,9) = sixE*Iy; 00551 k(9,9) = fourE*Iy; 00552 00553 k(0,10) = sixE*Iz; 00554 k(4,10) = twoE*Iz; 00555 k(6,10) = -sixE*Iz; 00556 k(10,10) = fourE*Iz; 00557 00558 k(5,11) = -G*Jx/L; 00559 k(11,11) = G*Jx/L; 00560 } 00561 00562 else { 00563 00564 int Nd1, Nd2; 00565 Nd1 = connectedExternalNodes(0); 00566 Nd2 = connectedExternalNodes(1); 00567 Domain *theDomain = this->getDomain(); 00568 Node *end1Ptr = theDomain->getNode(Nd1); 00569 Node *end2Ptr = theDomain->getNode(Nd2); 00570 00571 if (end1Ptr == 0) { 00572 opserr << "beam3d02::getStiff: Nd1: "; 00573 opserr << Nd1 << "does not exist in model\n"; 00574 exit(0); 00575 } 00576 if (end2Ptr == 0) { 00577 opserr << "beam3d02::getStiff: Nd2: "; 00578 opserr << Nd2 << "does not exist in model\n"; 00579 exit(0); 00580 } 00581 00582 opserr << "beam3d02::getStiff - NOT FINISHED"; 00583 opserr << " members not located along global axis directions\n"; 00584 exit(0); 00585 00586 } 00587 00588 return k; 00589 } 00590 00591 void 00592 beam3d02::zeroLoad(void) 00593 { 00594 load.Zero(); 00595 } 00596 00597 int 00598 beam3d02::addLoad(ElementalLoad *theLoad, double loadFactor) 00599 { 00600 opserr << "beam3d02::addLoad() - beam " << this->getTag() << "load type unknown\n"; 00601 return -1; 00602 } 00603 00604 int 00605 beam3d02::addInertiaLoadToUnbalance(const Vector &accel) 00606 { 00607 return 0; 00608 } 00609 00610 const Vector & 00611 beam3d02::getResistingForceIncInertia() 00612 { 00613 this->getResistingForce(); 00614 00615 // add rayleigh damping force if factors present 00616 if (betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0) 00617 rForce += this->getRayleighDampingForces(); 00618 00619 return rForce; 00620 } 00621 const Vector & 00622 beam3d02::getResistingForce() 00623 { 00624 // compute the residual Res = k*uTrial 00625 int Nd1, Nd2; 00626 Nd1 = connectedExternalNodes(0); 00627 Nd2 = connectedExternalNodes(1); 00628 Domain *theDomain = this->getDomain(); 00629 Node *end1Ptr = theDomain->getNode(Nd1); 00630 Node *end2Ptr = theDomain->getNode(Nd2); 00631 00632 const Vector &end1Disp = end1Ptr->getTrialDisp(); 00633 const Vector &end2Disp = end2Ptr->getTrialDisp(); 00634 rForce(0) = end1Disp(0); 00635 rForce(1) = end1Disp(1); 00636 rForce(2) = end1Disp(2); 00637 rForce(3) = end1Disp(3); 00638 rForce(4) = end1Disp(4); 00639 rForce(5) = end1Disp(5); 00640 rForce(6) = end2Disp(0); 00641 rForce(7) = end2Disp(1); 00642 rForce(8) = end2Disp(2); 00643 rForce(9) = end2Disp(3); 00644 rForce(10) = end2Disp(4); 00645 rForce(11) = end2Disp(5); 00646 00647 this->getStiff(); // we have to form the stiffness 00648 rForce = k * rForce; 00649 00650 // add any applied load 00651 rForce -= load; 00652 00653 return rForce; 00654 } 00655 00656 00657 int 00658 beam3d02::sendSelf(int commitTag, Channel &theChannel) 00659 { 00660 int dataTag = this->getDbTag(); 00661 Vector data(10); 00662 data(0) = A; data(1) = E; data(2) = G; 00663 data(3) = Jx; data(4) = Iy; data(5) = Iz; 00664 data(6) = this->getTag(); 00665 data(7) = connectedExternalNodes(0); 00666 data(8) = connectedExternalNodes(1); 00667 data(9) = theta; 00668 int result = 0; 00669 result = theChannel.sendVector(dataTag, commitTag, data); 00670 if (result < 0) { 00671 opserr << "beam3d02::sendSelf - failed to send data\n"; 00672 return -1; 00673 } 00674 00675 return 0; 00676 } 00677 00678 int 00679 beam3d02::recvSelf(int commitTag, Channel &theChannel, FEM_ObjectBroker &theBroker) 00680 { 00681 int dataTag = this->getDbTag(); 00682 Vector data(10); 00683 int result = 0; 00684 00685 result = theChannel.recvVector(dataTag, commitTag, data); 00686 if (result < 0) { 00687 opserr << "beam3d02::recvSelf - failed to recv data\n"; 00688 return -1; 00689 } 00690 00691 A = data(0); E = data(1); G=data(2); 00692 Jx = data(3); Iy = data(4); Iz=data(5); 00693 theta = data(9); 00694 int tag = data(6); 00695 this->setTag(tag); 00696 int nd1 = data(7); 00697 int nd2 = data(8); 00698 connectedExternalNodes(0) = nd1; 00699 connectedExternalNodes(1) = nd2; 00700 00701 return 0; 00702 } 00703 00704 00705 void 00706 beam3d02::Print(OPS_Stream &s, int flag) 00707 { 00708 s << "\nElement: " << this->getTag() << " Type: beam3d02 "; 00709 s << "\tConnected Nodes: " << connectedExternalNodes ; 00710 // s << "\tStiffness Matrix:\n" << k; 00711 s << "\tResisting Force: " << rForce; 00712 // s << "\tElemt End Force: " << eForce; 00713 } 00714 00715 00716 00717 00718
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