const Vector &
ElasticForceBeamColumn2d::getResistingForceIncInertia()
{
// Compute the current resisting force
theVector = this->getResistingForce();
// Check for a quick return
if (rho != 0.0) {
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
double L = crdTransf->getInitialLength();
double m = 0.5*rho*L;
theVector(0) += m*accel1(0);
theVector(1) += m*accel1(1);
theVector(3) += m*accel2(0);
theVector(4) += m*accel2(1);
// add the damping forces if rayleigh damping
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
theVector += this->getRayleighDampingForces();
} else {
// add the damping forces if rayleigh damping
if (betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
theVector += this->getRayleighDampingForces();
}
return theVector;
}
const Vector& EEBeamColumn2d::getResistingForceIncInertia()
{
// this already includes damping forces from specimen
theVector = this->getResistingForce();
// add the damping forces from rayleigh damping
if (addRayleigh == 1) {
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
theVector.addVector(1.0, this->getRayleighDampingForces(), 1.0);
}
// add inertia forces from element mass
if (L != 0.0 && rho != 0.0) {
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
double m = 0.5*rho*L;
theVector(0) += m * accel1(0);
theVector(1) += m * accel1(1);
theVector(3) += m * accel2(0);
theVector(4) += m * accel2(1);
}
return theVector;
}
const Vector&
Timoshenko2d::getResistingForceIncInertia()
{
// Add the inertial forces
if (rho != 0.0) {
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
// Compute the current resisting force
this->getResistingForce();
double L = crdTransf->getInitialLength();
double m = 0.5*rho*L;
P(0) += m*accel1(0);
P(1) += m*accel1(1);
P(3) += m*accel2(0);
P(4) += m*accel2(1);
}
// Add the damping forces
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0) {
P += this->getRayleighDampingForces();
}
return P;
}
const Vector&
FourNodeQuad3d::getResistingForceIncInertia()
{
int i;
static double rhoi[4];
double sum = 0.0;
for (i = 0; i < 4; i++) {
rhoi[i] = theMaterial[i]->getRho();
sum += rhoi[i];
}
// if no mass terms .. just add damping terms
if (sum == 0.0) {
this->getResistingForce();
// add the damping forces if rayleigh damping
if (betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
P += this->getRayleighDampingForces();
return P;
}
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
const Vector &accel3 = theNodes[2]->getTrialAccel();
const Vector &accel4 = theNodes[3]->getTrialAccel();
static double a[12];
a[0] = accel1(0);
a[1] = accel1(1);
a[2] = accel1(2);
a[3] = accel2(0);
a[4] = accel2(1);
a[5] = accel2(2);
a[6] = accel3(0);
a[7] = accel3(1);
a[8] = accel3(2);
a[9] = accel4(0);
a[10] = accel4(1);
a[11] = accel4(2);
// Compute the current resisting force
this->getResistingForce();
// Compute the mass matrix
this->getMass();
// Take advantage of lumped mass matrix
for (i = 0; i < 12; i++)
P(i) += K(i,i)*a[i];
// add the damping forces if rayleigh damping
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
P += this->getRayleighDampingForces();
return P;
}
const Vector &
SSPquadUP::getResistingForceIncInertia()
{
// terms stemming from acceleration
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
const Vector &accel3 = theNodes[2]->getTrialAccel();
const Vector &accel4 = theNodes[3]->getTrialAccel();
// compute current resisting force
this->getResistingForce();
// compute mass matrix
this->getMass();
Vector a(12);
a(0) = accel1(0);
a(1) = accel1(1);
a(2) = accel1(2);
a(3) = accel2(0);
a(4) = accel2(1);
a(5) = accel2(2);
a(6) = accel3(0);
a(7) = accel3(1);
a(8) = accel3(2);
a(9) = accel4(0);
a(10) = accel4(1);
a(11) = accel4(2);
mInternalForces.addMatrixVector(1.0, mMass, a, 1.0);
// terms stemming from velocity
const Vector &vel1 = theNodes[0]->getTrialVel();
const Vector &vel2 = theNodes[1]->getTrialVel();
const Vector &vel3 = theNodes[2]->getTrialVel();
const Vector &vel4 = theNodes[3]->getTrialVel();
Vector v(12);
v(0) = vel1(0);
v(1) = vel1(1);
v(2) = vel1(2);
v(3) = vel2(0);
v(4) = vel2(1);
v(5) = vel2(2);
v(6) = vel3(0);
v(7) = vel3(1);
v(8) = vel3(2);
v(9) = vel4(0);
v(10) = vel4(1);
v(11) = vel4(2);
// compute damping matrix
this->getDamp();
mInternalForces.addMatrixVector(1.0, mDamp, v, 1.0);
return mInternalForces;
}
const Vector&
Tri31::getResistingForceIncInertia()
{
int i;
static double rhoi[1]; //numgp
double sum = 0.0;
for (i = 0; i < numgp; i++) {
if(rho == 0) {
rhoi[i] = theMaterial[i]->getRho();
} else {
rhoi[i] = rho;
}
sum += rhoi[i];
}
// if no mass terms .. just add damping terms
if (sum == 0.0) {
this->getResistingForce();
// add the damping forces if rayleigh damping
if (betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0) P += this->getRayleighDampingForces();
return P;
}
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
const Vector &accel3 = theNodes[2]->getTrialAccel();
static double a[6];
a[0] = accel1(0);
a[1] = accel1(1);
a[2] = accel2(0);
a[3] = accel2(1);
a[4] = accel3(0);
a[5] = accel3(1);
// Compute the current resisting force
this->getResistingForce();
// Compute the mass matrix
this->getMass();
// Take advantage of lumped mass matrix
for (i = 0; i < 2*numnodes; i++) P(i) += K(i,i)*a[i];
// add the damping forces if rayleigh damping
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0) P += this->getRayleighDampingForces();
return P;
}
//! @brief Return the resisting force of the element including
//! inertia.
const XC::Vector &XC::FourNodeQuad::getResistingForceIncInertia(void) const
{
static Vector rhoi(4);
rhoi= physicalProperties.getRhoi();
double sum = this->physicalProperties.getRho();
for(int i= 0;i<rhoi.Size();i++)
sum += rhoi[i];
// if no mass terms .. just add damping terms
if(sum == 0.0)
{
this->getResistingForce();
// add the damping forces if rayleigh damping
if(!rayFactors.nullKValues())
P += this->getRayleighDampingForces();
return P;
}
const XC::Vector &accel1 = theNodes[0]->getTrialAccel();
const XC::Vector &accel2 = theNodes[1]->getTrialAccel();
const XC::Vector &accel3 = theNodes[2]->getTrialAccel();
const XC::Vector &accel4 = theNodes[3]->getTrialAccel();
static double a[8];
a[0] = accel1(0);
a[1] = accel1(1);
a[2] = accel2(0);
a[3] = accel2(1);
a[4] = accel3(0);
a[5] = accel3(1);
a[6] = accel4(0);
a[7] = accel4(1);
// Compute the current resisting force
this->getResistingForce();
// Compute the mass matrix
this->getMass();
//Take advantage of lumped mass matrix
for(int i= 0;i<8;i++)
P(i)+= K(i,i)*a[i];
// add the damping forces if rayleigh damping
if(!rayFactors.nullValues())
P+= this->getRayleighDampingForces();
if(isDead())
P*=dead_srf;
return P;
}
const Vector &
SSPquad::getResistingForceIncInertia()
{
// get mass density from the material
double density = theMaterial->getRho();
// if density is zero only add damping terms
if (density == 0.0) {
this->getResistingForce();
// add the damping forces if rayleigh damping
if (betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0) {
mInternalForces += this->getRayleighDampingForces();
}
return mInternalForces;
}
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
const Vector &accel3 = theNodes[2]->getTrialAccel();
const Vector &accel4 = theNodes[3]->getTrialAccel();
static double a[8];
a[0] = accel1(0);
a[1] = accel1(1);
a[2] = accel2(0);
a[3] = accel2(1);
a[4] = accel3(0);
a[5] = accel3(1);
a[6] = accel4(0);
a[7] = accel4(1);
// compute current resisting force
this->getResistingForce();
// compute mass matrix
this->getMass();
for (int i = 0; i < 8; i++) {
mInternalForces(i) += mMass(i,i)*a[i];
}
// add the damping forces if rayleigh damping
if (alphaM != 0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0) {
mInternalForces += this->getRayleighDampingForces();
}
return mInternalForces;
}
const Vector& ElastomericBearingBoucWen2d::getResistingForceIncInertia()
{
// this already includes damping forces from materials
theVector = this->getResistingForce();
// subtract external load
theVector.addVector(1.0, theLoad, -1.0);
// add the damping forces from rayleigh damping
if (addRayleigh == 1) {
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
theVector.addVector(1.0, this->getRayleighDampingForces(), 1.0);
}
// add inertia forces from element mass
if (mass != 0.0) {
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
double m = 0.5*mass;
for (int i=0; i<2; i++) {
theVector(i) += m * accel1(i);
theVector(i+3) += m * accel2(i);
}
}
return theVector;
}
const Vector& EEBearing3d::getResistingForceIncInertia()
{
// this already includes damping forces from specimen
theVector = this->getResistingForce();
// add the damping forces from rayleigh damping
if (addRayleigh == 1) {
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
theVector.addVector(1.0, this->getRayleighDampingForces(), 1.0);
}
// add inertia forces from element mass
if (mass != 0.0) {
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
double m = 0.5*mass;
for (int i=0; i<3; i++) {
theVector(i) += m * accel1(i);
theVector(i+6) += m * accel2(i);
}
}
return theVector;
}
const Vector& ElasticTimoshenkoBeam2d::getResistingForceIncInertia()
{
// first get the resisting forces
theVector = this->getResistingForce();
// subtract external load
theVector.addVector(1.0, theLoad, -1.0);
// add the damping forces from rayleigh damping
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
theVector.addVector(1.0, this->getRayleighDampingForces(), 1.0);
// check for quick return
if (rho == 0.0)
return theVector;
// add inertia forces from element mass
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
static Vector accel(6);
for (int i=0; i<3; i++) {
accel(i) = accel1(i);
accel(i+3) = accel2(i);
}
theVector.addMatrixVector(1.0, M, accel, 1.0);
return theVector;
}
const Vector& EETrussCorot::getResistingForceIncInertia()
{
// this already includes damping forces from specimen
*theVector = this->getResistingForce();
// add the damping forces from rayleigh damping
if (addRayleigh == 1) {
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
theVector->addVector(1.0, this->getRayleighDampingForces(), 1.0);
}
// add inertia forces from element mass
if (L != 0.0 && rho != 0.0) {
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
int numDOF2 = numDOF/2;
double m = 0.5*rho*L;
for (int i=0; i<numDIM; i++) {
(*theVector)(i) += m * accel1(i);
(*theVector)(i+numDOF2) += m * accel2(i);
}
}
return *theVector;
}
const Vector &
Truss2::getResistingForceIncInertia()
{
this->getResistingForce();
// subtract external load
(*theVector) -= *theLoad;
// now include the mass portion
if (L != 0.0 && rho != 0.0) {
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
int numDOF2 = numDOF/2;
double M = 0.5*rho*L;
for (int i = 0; i < dimension; i++) {
(*theVector)(i) += M*accel1(i);
(*theVector)(i+numDOF2) += M*accel2(i);
}
// add the damping forces if rayleigh damping
if (doRayleighDamping == 1 && (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0))
(*theVector) += this->getRayleighDampingForces();
} else {
// add the damping forces if rayleigh damping
if (doRayleighDamping == 1 && (betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0))
(*theVector) += this->getRayleighDampingForces();
}
return *theVector;
}
const Vector &
TrussSection::getResistingForceIncInertia()
{
this->getResistingForce();
// now include the mass portion
if (L != 0.0 && rho != 0.0) {
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
double M = 0.5*rho*L;
int dof = dimension;
int start = numDOF/2;
for (int i=0; i<dof; i++) {
(*theVector)(i) += M*accel1(i);
(*theVector)(i+start) += M*accel2(i);
}
}
// add the damping forces if rayleigh damping
if (doRayleighDamping == 1)
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
*theVector += this->getRayleighDampingForces();
return *theVector;
}
const XC::Vector &XC::CorotTruss::getResistingForceIncInertia(void) const
{
Vector &P = *theVector;
P = this->getResistingForce();
const double rho= getRho();
if(rho != 0.0)
{
const XC::Vector &accel1 = theNodes[0]->getTrialAccel();
const XC::Vector &accel2 = theNodes[1]->getTrialAccel();
double M = 0.5*rho*Lo;
int numDOF2 = numDOF/2;
for(int i = 0; i < getNumDIM(); i++)
{
P(i)+= M*accel1(i);
P(i+numDOF2)+= M*accel2(i);
}
}
// add the damping forces if rayleigh damping
if(!rayFactors.nullValues())
*theVector+= this->getRayleighDampingForces();
if(isDead())
(*theVector)*=dead_srf; //XXX Se aplica 2 veces sobre getResistingForce: arreglar.
return *theVector;
}
const Vector& SingleFPSimple2d::getResistingForceIncInertia()
{
// this already includes damping forces from materials
theVector = this->getResistingForce();
// add the damping forces from rayleigh damping
if (addRayleigh == 1) {
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
theVector += this->getRayleighDampingForces();
}
// add inertia forces from element mass
if (mass != 0.0) {
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
double m = 0.5*mass;
for (int i=0; i<2; i++) {
theVector(i) += m * accel1(i);
theVector(i+3) += m * accel2(i);
}
}
return theVector;
}
const Vector &
CorotTruss::getResistingForceIncInertia()
{
Vector &P = *theVector;
P = this->getResistingForce();
if (rho != 0.0) {
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
double M = 0.5*rho*Lo;
int numDOF2 = numDOF/2;
for (int i = 0; i < numDIM; i++) {
P(i) += M*accel1(i);
P(i+numDOF2) += M*accel2(i);
}
}
// add the damping forces if rayleigh damping
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
*theVector += this->getRayleighDampingForces();
return *theVector;
}
const Vector& TwoNodeLink::getResistingForceIncInertia()
{
// this already includes damping forces from materials
this->getResistingForce();
// subtract external load
theVector->addVector(1.0, *theLoad, -1.0);
// add the damping forces from rayleigh damping
if (addRayleigh == 1) {
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
theVector->addVector(1.0, this->getRayleighDampingForces(), 1.0);
}
// add inertia forces from element mass
if (mass != 0.0) {
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
int numDOF2 = numDOF/2;
double m = 0.5*mass;
for (int i=0; i<numDIM; i++) {
(*theVector)(i) += m * accel1(i);
(*theVector)(i+numDOF2) += m * accel2(i);
}
}
return *theVector;
}
const Vector &
CorotTrussSection::getResistingForceIncInertia()
{
Vector &P = *theVector;
P = this->getResistingForce();
// subtract external load
P -= *theLoad;
// now include the mass portion
if (Lo != 0.0 && rho != 0.0) {
// add inertia forces from element mass
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
int numDOF2 = numDOF/2;
if (cMass == 0) {
// lumped mass matrix
double m = 0.5*rho*Lo;
for (int i=0; i<numDIM; i++) {
P(i) += m*accel1(i);
P(i+numDOF2) += m*accel2(i);
}
} else {
// consistent mass matrix
double m = rho*Lo/6.0;
for (int i=0; i<numDIM; i++) {
(*theVector)(i) += 2.0*m*accel1(i) + m*accel2(i);
(*theVector)(i+numDOF2) += m*accel1(i) + 2.0*m*accel2(i);
}
}
// add the damping forces if rayleigh damping
if (doRayleighDamping == 1 && (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0))
theVector->addVector(1.0, this->getRayleighDampingForces(), 1.0);
} else {
// add the damping forces if rayleigh damping
if (doRayleighDamping == 1 && (betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0))
theVector->addVector(1.0, this->getRayleighDampingForces(), 1.0);
}
return *theVector;
}
const Vector&
DispBeamColumn3d::getResistingForceIncInertia()
{
P = this->getResistingForce();
// Subtract other external nodal loads ... P_res = P_int - P_ext
P.addVector(1.0, Q, -1.0);
if (rho != 0.0) {
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
if (cMass == 0) {
// take advantage of lumped mass matrix
double L = crdTransf->getInitialLength();
double m = 0.5*rho*L;
P(0) += m*accel1(0);
P(1) += m*accel1(1);
P(2) += m*accel1(2);
P(6) += m*accel2(0);
P(7) += m*accel2(1);
P(8) += m*accel2(2);
} else {
// use matrix vector multip. for consistent mass matrix
static Vector accel(12);
for (int i=0; i<6; i++) {
accel(i) = accel1(i);
accel(i+6) = accel2(i);
}
P.addMatrixVector(1.0, this->getMass(), accel, 1.0);
}
// add the damping forces if rayleigh damping
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
P.addVector(1.0, this->getRayleighDampingForces(), 1.0);
} else {
// add the damping forces if rayleigh damping
if (betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
P.addVector(1.0, this->getRayleighDampingForces(), 1.0);
}
return P;
}
const Vector &
ElasticBeam2d::getResistingForceIncInertia()
{
P = this->getResistingForce();
// subtract external load P = P - Q
P.addVector(1.0, Q, -1.0);
// add the damping forces if rayleigh damping
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
P.addVector(1.0, this->getRayleighDampingForces(), 1.0);
if (rho == 0.0)
return P;
// add inertia forces from element mass
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
if (cMass == 0) {
// take advantage of lumped mass matrix
double L = theCoordTransf->getInitialLength();
double m = 0.5*rho*L;
P(0) += m * accel1(0);
P(1) += m * accel1(1);
P(3) += m * accel2(0);
P(4) += m * accel2(1);
} else {
// use matrix vector multip. for consistent mass matrix
static Vector accel(6);
for (int i=0; i<3; i++) {
accel(i) = accel1(i);
accel(i+3) = accel2(i);
}
P.addMatrixVector(1.0, this->getMass(), accel, 1.0);
}
return P;
}
const Vector&
DispBeamColumn2dWithSensitivity::getResistingForceIncInertia()
{
P = this->getResistingForce();
// Subtract other external nodal loads ... P_res = P_int - P_ext
P.addVector(1.0, Q, -1.0);
if (rho != 0.0) {
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
// Compute the current resisting force
this->getResistingForce();
double L = crdTransf->getInitialLength();
double m = 0.5*rho*L;
P(0) += m*accel1(0);
P(1) += m*accel1(1);
P(3) += m*accel2(0);
P(4) += m*accel2(1);
// add the damping forces if rayleigh damping
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
P.addVector(1.0, this->getRayleighDampingForces(), 1.0);
} else {
// add the damping forces if rayleigh damping
if (betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
P.addVector(1.0, this->getRayleighDampingForces(), 1.0);
}
return P;
}
const Vector&
PFEMElement2DBubble::getResistingForceIncInertia()
{
// resize P
int ndf = this->getNumDOF();
P.resize(ndf);
P.Zero();
// get velocity, accleration
Vector v(ndf), vdot(ndf);
for(int i=0; i<3; i++) {
const Vector& accel = nodes[2*i]->getTrialAccel();
vdot(numDOFs(2*i)) = accel(0);
vdot(numDOFs(2*i)+1) = accel(1);
const Vector& accel2 = nodes[2*i+1]->getTrialAccel(); // pressure
vdot(numDOFs(2*i+1)) = accel2(0);
const Vector& vel = nodes[2*i]->getTrialVel();
v(numDOFs(2*i)) = vel(0);
v(numDOFs(2*i)+1) = vel(1);
const Vector& vel2 = nodes[2*i+1]->getTrialVel(); // pressure
v(numDOFs(2*i+1)) = vel2(0);
}
// bubble force
Vector fp(3);
getFp(fp);
// internal force
P.addMatrixVector(1.0, getMass(), vdot, 1.0);
P.addMatrixVector(1.0, getDamp(), v, 1.0);
// external force
Vector F(6);
getF(F);
for(int i=0; i<3; i++) {
P(numDOFs(2*i)) -= F(2*i);
P(numDOFs(2*i)+1) -= F(2*i+1);
P(numDOFs(2*i+1)) -= fp(i);
}
//opserr<<"F = "<<F;
return P;
}
int EETruss::update()
{
int rValue = 0;
// get current time
Domain *theDomain = this->getDomain();
(*t)(0) = theDomain->getCurrentTime();
// determine dsp, vel and acc in basic system
const Vector &disp1 = theNodes[0]->getTrialDisp();
const Vector &disp2 = theNodes[1]->getTrialDisp();
const Vector &vel1 = theNodes[0]->getTrialVel();
const Vector &vel2 = theNodes[1]->getTrialVel();
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
const Vector &dispIncr1 = theNodes[0]->getIncrDeltaDisp();
const Vector &dispIncr2 = theNodes[1]->getIncrDeltaDisp();
(*db)(0) = (*vb)(0) = (*ab)(0) = 0.0;
double dbDelta = 0.0;
for (int i=0; i<numDIM; i++) {
(*db)(0) += (disp2(i)-disp1(i))*cosX[i];
(*vb)(0) += (vel2(i)-vel1(i))*cosX[i];
(*ab)(0) += (accel2(i)-accel1(i))*cosX[i];
dbDelta += (dispIncr2(i)-dispIncr1(i))*cosX[i];
}
// do not check time for right now because of transformation constraint
// handler calling update at beginning of new step when applying load
// if (fabs(dbDelta) > DBL_EPSILON || (*t)(0) > tLast) {
if (fabs(dbDelta) > DBL_EPSILON) {
// set the trial response at the site
if (theSite != 0) {
theSite->setTrialResponse(db, vb, ab, (Vector*)0, t);
}
else {
sData[0] = OF_RemoteTest_setTrialResponse;
rValue += theChannel->sendVector(0, 0, *sendData, 0);
}
}
// save the last time
tLast = (*t)(0);
return rValue;
}
const Vector &
PDeltaCrdTransf2d::getBasicTrialAccel(void)
{
// determine global accelerations
const Vector &accel1 = nodeIPtr->getTrialAccel();
const Vector &accel2 = nodeJPtr->getTrialAccel();
static double ag[6];
for (int i = 0; i < 3; i++) {
ag[i] = accel1(i);
ag[i+3] = accel2(i);
}
static Vector ab(3);
double oneOverL = 1.0/L;
double sl = sinTheta*oneOverL;
double cl = cosTheta*oneOverL;
ab(0) = -cosTheta*ag[0] - sinTheta*ag[1] +
cosTheta*ag[3] + sinTheta*ag[4];
ab(1) = -sl*ag[0] + cl*ag[1] + ag[2] +
sl*ag[3] - cl*ag[4];
if (nodeIOffset != 0) {
double t02 = -cosTheta*nodeIOffset[1] + sinTheta*nodeIOffset[0];
double t12 = sinTheta*nodeIOffset[1] + cosTheta*nodeIOffset[0];
ab(0) -= t02*ag[2];
ab(1) += oneOverL*t12*ag[2];
}
if (nodeJOffset != 0) {
double t35 = -cosTheta*nodeJOffset[1] + sinTheta*nodeJOffset[0];
double t45 = sinTheta*nodeJOffset[1] + cosTheta*nodeJOffset[0];
ab(0) += t35*ag[5];
ab(1) -= oneOverL*t45*ag[5];
}
ab(2) = ab(1) + ag[5] - ag[2];
return ab;
}
const Vector&
PFEMElement2DCompressible::getResistingForceIncInertia()
{
// resize P
int ndf = this->getNumDOF();
P.resize(ndf);
P.Zero();
// get velocity, accleration
Vector v(ndf), vdot(ndf);
for(int i=0; i<3; i++) {
const Vector& accel = nodes[2*i]->getTrialAccel();
vdot(numDOFs(2*i)) = accel(0);
vdot(numDOFs(2*i)+1) = accel(1);
const Vector& accel2 = nodes[2*i+1]->getTrialAccel();
vdot(numDOFs(2*i+1)) = accel2(0);
const Vector& vel = nodes[2*i]->getTrialVel();
v(numDOFs(2*i)) = vel(0);
v(numDOFs(2*i)+1) = vel(1);
const Vector& vel2 = nodes[2*i+1]->getTrialVel();
v(numDOFs(2*i+1)) = vel2(0);
}
// Ma+k1v-Gp
// Gt*v+Mp*p
P.addMatrixVector(1.0, getMass(), vdot, 1.0);
P.addMatrixVector(1.0, getDamp(), v, 1.0);
// f
double J2 = J/2.0;
for(int i=0; i<3; i++) {
P(numDOFs(2*i)) -= rho*bx/3.*J2;
P(numDOFs(2*i)+1) -= rho*by/3.*J2;
}
return P;
}
const Vector& YamamotoBiaxialHDR::getResistingForceIncInertia()
{
theVector = this->getResistingForce();
// add the damping forces if rayleigh damping
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
theVector += this->getRayleighDampingForces();
// now include the mass portion
if (mass != 0.0) {
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
double m = 0.5*mass;
for (int i = 0; i < 3; i++) {
theVector(i) += m * accel1(i);
theVector(i+3) += m * accel2(i);
}
}
return theVector;
}
const Vector& ActuatorCorot::getResistingForceIncInertia()
{
this->getResistingForce();
// add the damping forces if rayleigh damping
if (alphaM != 0.0 || betaK != 0.0 || betaK0 != 0.0 || betaKc != 0.0)
(*theVector) += this->getRayleighDampingForces();
// now include the mass portion
if (L != 0.0 && rho != 0.0) {
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
int numDOF2 = numDOF/2;
double m = 0.5*rho*L;
for (int i=0; i<numDIM; i++) {
(*theVector)(i) += m * accel1(i);
(*theVector)(i+numDOF2) += m * accel2(i);
}
}
return *theVector;
}
int EETrussCorot::update()
{
int rValue = 0;
// get current time
Domain *theDomain = this->getDomain();
(*t)(0) = theDomain->getCurrentTime();
// determine dsp, vel and acc in basic system
const Vector &disp1 = theNodes[0]->getTrialDisp();
const Vector &disp2 = theNodes[1]->getTrialDisp();
const Vector &vel1 = theNodes[0]->getTrialVel();
const Vector &vel2 = theNodes[1]->getTrialVel();
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
const Vector &dispIncr1 = theNodes[0]->getIncrDeltaDisp();
const Vector &dispIncr2 = theNodes[1]->getIncrDeltaDisp();
// initial offsets
double d21Last[3];
d21[0] = L; d21[1] = d21[2] = 0.0;
v21[0] = v21[1] = v21[2] = 0.0;
a21[0] = a21[1] = a21[2] = 0.0;
d21Last[0] = L; d21Last[1] = d21Last[2] = 0.0;
// update offsets in basic system
for (int i=0; i<numDIM; i++) {
double deltaDisp = disp2(i) - disp1(i);
d21[0] += deltaDisp*R(0,i);
d21[1] += deltaDisp*R(1,i);
d21[2] += deltaDisp*R(2,i);
double deltaVel = vel2(i) - vel1(i);
v21[0] += deltaVel*R(0,i);
v21[1] += deltaVel*R(1,i);
v21[2] += deltaVel*R(2,i);
double deltaAccel = accel2(i) - accel1(i);
a21[0] += deltaAccel*R(0,i);
a21[1] += deltaAccel*R(1,i);
a21[2] += deltaAccel*R(2,i);
double deltaDispLast = (disp2(i)-dispIncr2(i))
- (disp1(i)-dispIncr1(i));
d21Last[0] += deltaDispLast*R(0,i);
d21Last[1] += deltaDispLast*R(1,i);
d21Last[2] += deltaDispLast*R(2,i);
}
// compute new length and deformation
Ln = sqrt(d21[0]*d21[0] + d21[1]*d21[1] + d21[2]*d21[2]);
double c1 = d21[0]*v21[0] + d21[1]*v21[1] + d21[2]*v21[2];
double c2 = v21[0]*v21[0] + v21[1]*v21[1] + v21[2]*v21[2]
+ d21[0]*a21[0] + d21[1]*a21[1] + d21[2]*a21[2];
(*db)(0) = Ln - L;
(*vb)(0) = c1/Ln;
(*ab)(0) = c2/Ln - (c1*c1)/(Ln*Ln*Ln);
double LnLast = sqrt(d21Last[0]*d21Last[0] + d21Last[1]*d21Last[1]
+ d21Last[2]*d21Last[2]);
double dbDelta = (Ln - L) - (LnLast - L);
// do not check time for right now because of transformation constraint
// handler calling update at beginning of new step when applying load
// if (fabs(dbDelta) > DBL_EPSILON || (*t)(0) > tLast) {
if (fabs(dbDelta) > DBL_EPSILON) {
// set the trial response at the site
if (theSite != 0) {
theSite->setTrialResponse(db, vb, ab, (Vector*)0, t);
}
else {
sData[0] = OF_RemoteTest_setTrialResponse;
rValue += theChannel->sendVector(0, 0, *sendData, 0);
}
}
// save the last time
tLast = (*t)(0);
return rValue;
}
const Vector&
FourNodeQuadUP::getResistingForceIncInertia()
{
int i, j, k;
const Vector &accel1 = nd1Ptr->getTrialAccel();
const Vector &accel2 = nd2Ptr->getTrialAccel();
const Vector &accel3 = nd3Ptr->getTrialAccel();
const Vector &accel4 = nd4Ptr->getTrialAccel();
static double a[12];
a[0] = accel1(0);
a[1] = accel1(1);
a[2] = accel1(2);
a[3] = accel2(0);
a[4] = accel2(1);
a[5] = accel2(2);
a[6] = accel3(0);
a[7] = accel3(1);
a[8] = accel3(2);
a[9] = accel4(0);
a[10] = accel4(1);
a[11] = accel4(2);
// Compute the current resisting force
this->getResistingForce();
//opserr<<"K "<<P<<endln;
// Compute the mass matrix
this->getMass();
for (i = 0; i < 12; i++) {
for (j = 0; j < 12; j++)
P(i) += K(i,j)*a[j];
}
//opserr<<"K+M "<<P<<endln;
// dynamic seepage force
/*for (i = 0, k = 0; i < 4; i++, k += 3) {
// loop over integration points
for (j = 0; j < 4; j++) {
P(i+2) -= rho*dvol[j]*(shp[2][i][j]*a[k]*perm[0]*shp[0][i][j]
+shp[2][i][j]*a[k+1]*perm[1]*shp[1][i][j]);
}
}*/
//opserr<<"K+M+fb "<<P<<endln;
const Vector &vel1 = nd1Ptr->getTrialVel();
const Vector &vel2 = nd2Ptr->getTrialVel();
const Vector &vel3 = nd3Ptr->getTrialVel();
const Vector &vel4 = nd4Ptr->getTrialVel();
a[0] = vel1(0);
a[1] = vel1(1);
a[2] = vel1(2);
a[3] = vel2(0);
a[4] = vel2(1);
a[5] = vel2(2);
a[6] = vel3(0);
a[7] = vel3(1);
a[8] = vel3(2);
a[9] = vel4(0);
a[10] = vel4(1);
a[11] = vel4(2);
this->getDamp();
for (i = 0; i < 12; i++) {
for (j = 0; j < 12; j++) {
P(i) += K(i,j)*a[j];
}
}
//opserr<<"final "<<P<<endln;
return P;
}
