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Brick.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: 2001/07/11 23:15:55 $ // $Source: /usr/local/cvs/OpenSees/SRC/element/brick/Brick.cpp,v $ // Ed "C++" Love // // Eight node Brick element // #include <iostream.h> #include <stdio.h> #include <stdlib.h> #include <math.h> #include <ID.h> #include <Vector.h> #include <Matrix.h> #include <Element.h> #include <Node.h> #include <SectionForceDeformation.h> #include <Domain.h> #include <ErrorHandler.h> #include <Brick.h> #include <Renderer.h> extern void shp3d( const double ss[3], double &xsj, double shp[4][8], const double xl[3][8] ) ; //static data double Brick::xl[3][8] ; Matrix Brick::stiff(24,24) ; Vector Brick::resid(24) ; Matrix Brick::mass(24,24) ; Matrix Brick::damping(24,24) ; //quadrature data const double Brick::root3 = sqrt(3.0) ; const double Brick::one_over_root3 = 1.0 / root3 ; const double Brick::sg[] = { -one_over_root3, one_over_root3 } ; const double Brick::wg[] = { 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 } ; //null constructor Brick::Brick( ) : Element( 0, ELE_TAG_Brick ), connectedExternalNodes(8) { } //********************************************************************* //full constructor Brick::Brick( int tag, int node1, int node2, int node3, int node4, int node5, int node6, int node7, int node8, NDMaterial &theMaterial ) : Element( tag, ELE_TAG_Brick ), connectedExternalNodes(8) { connectedExternalNodes(0) = node1 ; connectedExternalNodes(1) = node2 ; connectedExternalNodes(2) = node3 ; connectedExternalNodes(3) = node4 ; connectedExternalNodes(4) = node5 ; connectedExternalNodes(5) = node6 ; connectedExternalNodes(6) = node7 ; connectedExternalNodes(7) = node8 ; int i ; for ( i=0; i<8; i++ ) { materialPointers[i] = theMaterial.getCopy("ThreeDimensional") ; if (materialPointers[i] == 0) { g3ErrorHandler->fatal("Brick::constructor %s", "- failed to get a material of type: ShellSection"); } //end if } //end for i } //****************************************************************** //destructor Brick::~Brick( ) { int i ; for ( i=0 ; i<8; i++ ) { delete materialPointers[i] ; materialPointers[i] = 0 ; nodePointers[i] = 0 ; } //end for i } //set domain void Brick::setDomain( Domain *theDomain ) { int i ; //node pointers for ( i=0; i<8; i++ ) { nodePointers[i] = theDomain->getNode( connectedExternalNodes(i) ) ; if (nodePointers[i] == 0) { cerr << "Brick::setDomain - no node " << connectedExternalNodes(i); cerr << " exists in the domain - segmentation fault likely\n"; } } this->DomainComponent::setDomain(theDomain); } //get the number of external nodes int Brick::getNumExternalNodes( ) const { return 8 ; } //return connected external nodes const ID& Brick::getExternalNodes( ) { return connectedExternalNodes ; } //return number of dofs int Brick::getNumDOF( ) { return 24 ; } //commit state int Brick::commitState( ) { int i ; int success = 0 ; for ( i=0; i<8; i++ ) success += materialPointers[i]->commitState( ) ; return success ; } //revert to last commit int Brick::revertToLastCommit( ) { int i ; int success = 0 ; for ( i=0; i<8; i++ ) success += materialPointers[i]->revertToLastCommit( ) ; return success ; } //revert to start int Brick::revertToStart( ) { int i ; int success = 0 ; for ( i=0; i<8; i++ ) success += materialPointers[i]->revertToStart( ) ; return success ; } //print out element data void Brick::Print( ostream &s, int flag ) { s << '\n' ; s << "Standard Eight Node Brick tag: " << this->getTag() << "\n" ; s << "Node 1 : " << connectedExternalNodes(0) << '\n' ; s << "Node 2 : " << connectedExternalNodes(1) << '\n' ; s << "Node 3 : " << connectedExternalNodes(2) << '\n' ; s << "Node 4 : " << connectedExternalNodes(3) << '\n' ; s << "Node 5 : " << connectedExternalNodes(4) << '\n' ; s << "Node 6 : " << connectedExternalNodes(5) << '\n' ; s << "Node 7 : " << connectedExternalNodes(6) << '\n' ; s << "Node 8 : " << connectedExternalNodes(7) << '\n' ; s << "Material Information : \n " ; materialPointers[0]->Print( s, flag ) ; s << endl ; } //return stiffness matrix const Matrix& Brick::getTangentStiff( ) { int tang_flag = 1 ; //get the tangent //do tangent and residual here formResidAndTangent( tang_flag ) ; return stiff ; } //return secant matrix const Matrix& Brick::getSecantStiff( ) { int tang_flag = 1 ; //get the tangent //do tangent and residual here formResidAndTangent( tang_flag ) ; return stiff ; } //return damping matrix because frank is a dumb ass const Matrix& Brick::getDamp( ) { //not supported return damping ; } //return mass matrix const Matrix& Brick::getMass( ) { int tangFlag = 1 ; formInertiaTerms( tangFlag ) ; return mass ; } //zero the load -- what load? void Brick::zeroLoad( ) { return ; } //add load -- what load? int Brick::addLoad( const Vector &addP ) { return -1 ; } //get residual const Vector& Brick::getResistingForce( ) { int tang_flag = 0 ; //don't get the tangent formResidAndTangent( tang_flag ) ; return resid ; } //get residual with inertia terms const Vector& Brick::getResistingForceIncInertia( ) { int tang_flag = 0 ; //don't get the tangent //do tangent and residual here formResidAndTangent( tang_flag ) ; formInertiaTerms( tang_flag ) ; return resid ; } //********************************************************************* //form inertia terms void Brick::formInertiaTerms( int tangFlag ) { static const int ndm = 3 ; static const int ndf = 3 ; static const int numberNodes = 8 ; static const int numberGauss = 8 ; static const int nShape = 4 ; static const int massIndex = nShape - 1 ; double xsj ; // determinant jacaobian matrix double dvol[numberGauss] ; //volume element static double shp[nShape][numberNodes] ; //shape functions at a gauss point static double Shape[nShape][numberNodes][numberGauss] ; //all the shape functions static double gaussPoint[ndm] ; static Vector momentum(ndf) ; int i, j, k, p, q ; int jj, kk ; double temp, rho, massJK ; //zero mass mass.Zero( ) ; //compute basis vectors and local nodal coordinates computeBasis( ) ; //gauss loop to compute and save shape functions int count = 0 ; for ( i = 0; i < 2; i++ ) { for ( j = 0; j < 2; j++ ) { for ( k = 0; k < 2; k++ ) { gaussPoint[0] = sg[i] ; gaussPoint[1] = sg[j] ; gaussPoint[2] = sg[k] ; //get shape functions shp3d( gaussPoint, xsj, shp, xl ) ; //save shape functions for ( p = 0; p < nShape; p++ ) { for ( q = 0; q < numberNodes; q++ ) Shape[p][q][count] = shp[p][q] ; } // end for p //volume element to also be saved dvol[count] = wg[count] * xsj ; count++ ; } //end for k } //end for j } // end for i //gauss loop for ( i = 0; i < numberGauss; i++ ) { //extract shape functions from saved array for ( p = 0; p < nShape; p++ ) { for ( q = 0; q < numberNodes; q++ ) shp[p][q] = Shape[p][q][i] ; } // end for p //node loop to compute acceleration momentum.Zero( ) ; for ( j = 0; j < numberNodes; j++ ) momentum += shp[massIndex][j] * ( nodePointers[j]->getTrialAccel() ) ; //density rho = materialPointers[i]->getRho() ; //multiply acceleration by density to form momentum momentum *= rho ; //residual and tangent calculations node loops jj = 0 ; for ( j = 0; j < numberNodes; j++ ) { temp = shp[massIndex][j] * dvol[i] ; for ( p = 0; p < ndf; p++ ) resid( jj+p ) += ( temp * momentum(p) ) ; if ( tangFlag == 1 ) { //multiply by density temp *= rho ; //node-node mass kk = 0 ; for ( k = 0; k < numberNodes; k++ ) { massJK = temp * shp[massIndex][k] ; for ( p = 0; p < ndf; p++ ) mass( jj+p, kk+p ) += massJK ; kk += ndf ; } // end for k loop } // end if tang_flag jj += ndf ; } // end for j loop } //end for i gauss loop } //********************************************************************* //form residual and tangent void Brick::formResidAndTangent( int tang_flag ) { //strains ordered : eps11, eps22, eps33, 2*eps12, 2*eps23, 2*eps31 static const int ndm = 3 ; static const int ndf = 3 ; static const int nstress = 6 ; static const int numberNodes = 8 ; static const int numberGauss = 8 ; static const int nShape = 4 ; int i, j, k, p, q ; int jj, kk ; int success ; static double volume ; static double xsj ; // determinant jacaobian matrix static double dvol[numberGauss] ; //volume element static double gaussPoint[ndm] ; static Vector strain(nstress) ; //strain static double shp[nShape][numberNodes] ; //shape functions at a gauss point static double Shape[nShape][numberNodes][numberGauss] ; //all the shape functions static Vector residJ(ndf) ; //nodeJ residual static Matrix stiffJK(ndf,ndf) ; //nodeJK stiffness static Vector stress(nstress) ; //stress static Matrix dd(nstress,nstress) ; //material tangent //---------B-matrices------------------------------------ static Matrix BJ(nstress,ndf) ; // B matrix node J static Matrix BJtran(ndf,nstress) ; static Matrix BK(nstress,ndf) ; // B matrix node k static Matrix BJtranD(ndf,nstress) ; //------------------------------------------------------- //zero stiffness and residual stiff.Zero( ) ; resid.Zero( ) ; //compute basis vectors and local nodal coordinates computeBasis( ) ; //gauss loop to compute and save shape functions int count = 0 ; volume = 0.0 ; for ( i = 0; i < 2; i++ ) { for ( j = 0; j < 2; j++ ) { for ( k = 0; k < 2; k++ ) { gaussPoint[0] = sg[i] ; gaussPoint[1] = sg[j] ; gaussPoint[2] = sg[k] ; //get shape functions shp3d( gaussPoint, xsj, shp, xl ) ; //save shape functions for ( p = 0; p < nShape; p++ ) { for ( q = 0; q < numberNodes; q++ ) Shape[p][q][count] = shp[p][q] ; } // end for p //volume element to also be saved dvol[count] = wg[count] * xsj ; //volume += dvol[count] ; count++ ; } //end for k } //end for j } // end for i //gauss loop for ( i = 0; i < numberGauss; i++ ) { //extract shape functions from saved array for ( p = 0; p < nShape; p++ ) { for ( q = 0; q < numberNodes; q++ ) shp[p][q] = Shape[p][q][i] ; } // end for p //zero the strains strain.Zero( ) ; // j-node loop to compute strain for ( j = 0; j < numberNodes; j++ ) { //compute B matrix BJ = computeB( j, shp ) ; //nodal displacements const Vector &ul = nodePointers[j]->getTrialDisp( ) ; //compute the strain strain += (BJ*ul) ; } // end for j //send the strain to the material success = materialPointers[i]->setTrialStrain( strain ) ; //compute the stress stress = materialPointers[i]->getStress( ) ; //multiply by volume element stress *= dvol[i] ; if ( tang_flag == 1 ) { dd = materialPointers[i]->getTangent( ) ; dd *= dvol[i] ; } //end if tang_flag //residual and tangent calculations node loops jj = 0 ; for ( j = 0; j < numberNodes; j++ ) { BJ = computeB( j, shp ) ; //transpose BJtran = transpose( nstress, ndf, BJ ) ; //residual residJ = BJtran * stress ; //residual for ( p = 0; p < ndf; p++ ) resid( jj + p ) += residJ(p) ; if ( tang_flag == 1 ) { BJtranD = BJtran * dd ; kk = 0 ; for ( k = 0; k < numberNodes; k++ ) { BK = computeB( k, shp ) ; stiffJK = BJtranD * BK ; for ( p = 0; p < ndf; p++ ) { for ( q = 0; q < ndf; q++ ) stiff( jj+p, kk+q ) += stiffJK( p, q ) ; } //end for p kk += ndf ; } // end for k loop } // end if tang_flag jj += ndf ; } // end for j loop } //end for i gauss loop return ; } //************************************************************************ //compute local coordinates and basis void Brick::computeBasis( ) { //nodal coordinates int i ; for ( i = 0; i < 8; i++ ) { const Vector &coorI = nodePointers[i]->getCrds( ) ; xl[0][i] = coorI(0) ; xl[1][i] = coorI(1) ; xl[2][i] = coorI(2) ; } //end for i } //************************************************************************* //compute B Matrix Brick::computeB( int node, const double shp[4][8] ) { static Matrix B(6,3) ; //---B Matrix in standard {1,2,3} mechanics notation--------- // // - - // | N,1 0 0 | // B = | 0 N,2 0 | // | 0 0 N,3 | (6x3) // | N,2 N,1 0 | // | 0 N,3 N,2 | // | N,3 0 N,1 | // - - // //------------------------------------------------------------------- B.Zero( ) ; B(0,0) = shp[0][node] ; B(1,1) = shp[1][node] ; B(2,2) = shp[2][node] ; B(3,0) = shp[1][node] ; B(3,1) = shp[0][node] ; B(4,1) = shp[2][node] ; B(4,2) = shp[1][node] ; B(5,0) = shp[2][node] ; B(5,2) = shp[0][node] ; return B ; } //*********************************************************************** Matrix Brick::transpose( int dim1, int dim2, const Matrix &M ) { int i ; int j ; Matrix Mtran( dim2, dim1 ) ; for ( i = 0; i < dim1; i++ ) { for ( j = 0; j < dim2; j++ ) Mtran(j,i) = M(i,j) ; } // end for i return Mtran ; } //********************************************************************** int Brick::sendSelf (int commitTag, Channel &theChannel) { return -1; } int Brick::recvSelf (int commitTag, Channel &theChannel, FEM_ObjectBroker &theBroker) { return -1; } //************************************************************************** int Brick::displaySelf(Renderer &theViewer, int displayMode, float fact) { const Vector &end1Crd = nodePointers[0]->getCrds(); const Vector &end2Crd = nodePointers[1]->getCrds(); const Vector &end3Crd = nodePointers[2]->getCrds(); const Vector &end4Crd = nodePointers[3]->getCrds(); const Vector &end5Crd = nodePointers[4]->getCrds(); const Vector &end6Crd = nodePointers[5]->getCrds(); const Vector &end7Crd = nodePointers[6]->getCrds(); const Vector &end8Crd = nodePointers[7]->getCrds(); const Vector &end1Disp = nodePointers[0]->getDisp(); const Vector &end2Disp = nodePointers[1]->getDisp(); const Vector &end3Disp = nodePointers[2]->getDisp(); const Vector &end4Disp = nodePointers[3]->getDisp(); const Vector &end5Disp = nodePointers[4]->getDisp(); const Vector &end6Disp = nodePointers[5]->getDisp(); const Vector &end7Disp = nodePointers[6]->getDisp(); const Vector &end8Disp = nodePointers[7]->getDisp(); static Matrix coords(4,3); static Vector values(4); static Vector P(24) ; values(0) = 1 ; values(1) = 1 ; values(2) = 1 ; values(3) = 1 ; if (displayMode < 3 && displayMode > 0) P = this->getResistingForce(); int error = 0; int i; for (i = 0; i < 3; i++) { coords(0,i) = end1Crd(i) + end1Disp(i)*fact; coords(1,i) = end2Crd(i) + end2Disp(i)*fact; coords(2,i) = end3Crd(i) + end3Disp(i)*fact; coords(3,i) = end4Crd(i) + end4Disp(i)*fact; } error += theViewer.drawPolygon (coords, values); for (i = 0; i < 3; i++) { coords(0,i) = end5Crd(i) + end5Disp(i)*fact; coords(1,i) = end6Crd(i) + end6Disp(i)*fact; coords(2,i) = end7Crd(i) + end7Disp(i)*fact; coords(3,i) = end8Crd(i) + end8Disp(i)*fact; } error += theViewer.drawPolygon (coords, values); for (i = 0; i < 3; i++) { coords(0,i) = end1Crd(i) + end1Disp(i)*fact; coords(1,i) = end4Crd(i) + end4Disp(i)*fact; coords(2,i) = end8Crd(i) + end8Disp(i)*fact; coords(3,i) = end5Crd(i) + end5Disp(i)*fact; } error += theViewer.drawPolygon (coords, values); for (i = 0; i < 3; i++) { coords(0,i) = end2Crd(i) + end2Disp(i)*fact; coords(1,i) = end3Crd(i) + end3Disp(i)*fact; coords(2,i) = end7Crd(i) + end7Disp(i)*fact; coords(3,i) = end6Crd(i) + end6Disp(i)*fact; } error += theViewer.drawPolygon (coords, values); for (i = 0; i < 3; i++) { coords(0,i) = end1Crd(i) + end1Disp(i)*fact; coords(1,i) = end2Crd(i) + end2Disp(i)*fact; coords(2,i) = end6Crd(i) + end6Disp(i)*fact; coords(3,i) = end5Crd(i) + end5Disp(i)*fact; } error += theViewer.drawPolygon (coords, values); for (i = 0; i < 3; i++) { coords(0,i) = end4Crd(i) + end4Disp(i)*fact; coords(1,i) = end3Crd(i) + end3Disp(i)*fact; coords(2,i) = end7Crd(i) + end7Disp(i)*fact; coords(3,i) = end8Crd(i) + end8Disp(i)*fact; } error += theViewer.drawPolygon (coords, values); return error; }

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