const XC::Matrix &XC::MFreedom_Joint2D::getConstraint(void) const
{
if(constraintMatrix.isEmpty())
{
std::cerr << getClassName() << "::" << __FUNCTION__
<< "; no matrix was set\n";
exit(-1);
}
// Length correction
// to correct the trial displacement
if(LargeDisplacement == 2 )
{
// get the coordinates of the two nodes - check dimensions are the same FOR THE MOMENT
const Vector &crdR = RetainedNode->getCrds();
const Vector &crdC = ConstrainedNode->getCrds();
// get committed displacements of nodes to get updated coordinates
const Vector &dispR = RetainedNode->getTrialDisp();
const Vector &dispC = ConstrainedNode->getTrialDisp();
double deltaX = dispC(0) + crdC(0) - dispR(0) - crdR(0);
double deltaY = dispC(1) + crdC(1) - dispR(1) - crdR(1);
Vector Direction(2);
Direction(0) = deltaX;
Direction(1) = deltaY;
double NewLength = Direction.Norm();
if(NewLength < 1e-12)
std::cerr << "XC::MFreedom_Joint2D::applyConstraint : length of rigid link is too small or zero";
Direction = Direction * (Length0/NewLength); // correct the length
// find new displacements of the constrainted node
Vector NewLocation(3);
NewLocation(0) = Direction(0) + dispR(0) + crdR(0) - crdC(0);
NewLocation(1) = Direction(1) + dispR(1) + crdR(1) - crdC(1);
NewLocation(2) = dispC(2);
ConstrainedNode->setTrialDisp(NewLocation);
} // end of length correction procedure
// return the constraint matrix Ccr
return constraintMatrix;
}
const Matrix &MP_Joint2D::getConstraint(void)
{
if (constraint == 0) {
opserr << "MP_Joint2D::getConstraint - no Matrix was set\n";
exit(-1);
}
// Length correction
// to correct the trial displacement
if ( LargeDisplacement == 2 )
{
// get the coordinates of the two nodes - check dimensions are the same FOR THE MOMENT
const Vector &crdR = RetainedNode->getCrds();
const Vector &crdC = ConstrainedNode->getCrds();
// get commited displacements of nodes to get updated coordinates
const Vector &dispR = RetainedNode->getTrialDisp();
const Vector &dispC = ConstrainedNode->getTrialDisp();
double deltaX = dispC(0) + crdC(0) - dispR(0) - crdR(0);
double deltaY = dispC(1) + crdC(1) - dispR(1) - crdR(1);
Vector Direction(2);
Direction(0) = deltaX;
Direction(1) = deltaY;
double NewLength = Direction.Norm();
if ( NewLength < 1e-12 ) opserr << "MP_Joint2D::applyConstraint : length of rigid link is too small or zero";
Direction = Direction * (Length0/NewLength); // correct the length
// find new displacements of the constrainted node
Vector NewLocation(3);
NewLocation(0) = Direction(0) + dispR(0) + crdR(0) - crdC(0);
NewLocation(1) = Direction(1) + dispR(1) + crdR(1) - crdC(1);
NewLocation(2) = dispC(2);
int dummy = ConstrainedNode->setTrialDisp( NewLocation );
}
// end of length correction procedure
// return the constraint matrix Ccr
return (*constraint);
}
int
MP_Joint2D::applyConstraint(double timeStamp)
{
if ( LargeDisplacement != 0 )
{
// calculate the constraint at this moment
// get the coordinates of the two nodes - check dimensions are the same FOR THE MOMENT
const Vector &crdR = RetainedNode->getCrds();
const Vector &crdC = ConstrainedNode->getCrds();
// get commited displacements of nodes to get updated coordinates
const Vector &dispR = RetainedNode->getDisp();
const Vector &dispC = ConstrainedNode->getDisp();
double deltaX = dispC(0) + crdC(0) - dispR(0) - crdR(0);
double deltaY = dispC(1) + crdC(1) - dispR(1) - crdR(1);
constraint->Zero();
if ( FixedEnd == 0 )
{
// the end is released
(*constraint) (0,0) = 1.0 ;
(*constraint) (0,2) = -deltaY ;
(*constraint) (1,1) = 1.0 ;
(*constraint) (1,2) = deltaX ;
} else
{
// the end is fixed
(*constraint) (0,0) = 1.0 ;
(*constraint) (0,MainDOF) = -deltaY ;
(*constraint) (1,1) = 1.0 ;
(*constraint) (1,MainDOF) = deltaX ;
(*constraint) (2,AuxDOF) = 1.0 ;
}
}
return 0;
}
// general constructor for ModelBuilder
MP_Joint2D::MP_Joint2D(Domain *theDomain, int nodeRetain, int nodeConstr,
int Maindof, int fixedend, int LrgDsp )
:MP_Constraint(CNSTRNT_TAG_MP_Joint2D ), thisDomain(theDomain),
nodeRetained(nodeRetain), nodeConstrained(nodeConstr), MainDOF(Maindof), AuxDOF(0),
FixedEnd(fixedend), constraint(0), constrDOF(0), retainDOF(0),
dbTag1(0), dbTag2(0), dbTag3(0), RetainedNode(0), ConstrainedNode(0),
LargeDisplacement( LrgDsp ), Length0(0.0)
{
if( thisDomain == NULL ) {
opserr << "WARNING MP_Joint2D(): Specified domain does not exist";
opserr << "Domain = 0\n";
return;
}
// get node pointers of constrainted and retained nodes
ConstrainedNode = theDomain->getNode(nodeConstrained);
if (ConstrainedNode == NULL)
{
opserr << "MP_Joint2D::MP_Joint2D: nodeConstrained: ";
opserr << nodeConstrained << "does not exist in model\n";
exit(0);
}
RetainedNode = theDomain->getNode(nodeRetained);
if (RetainedNode == NULL)
{
opserr << "MP_Joint2D::MP_Joint2D: nodeRetained: ";
opserr << nodeRetained << "does not exist in model\n";
exit(0);
}
// check for proper degrees of freedom
int RnumDOF = RetainedNode->getNumberDOF();
int CnumDOF = ConstrainedNode->getNumberDOF();
if (RnumDOF != 4 || CnumDOF != 3 ){
opserr << "MP_Joint2D::MP_Joint2D - mismatch in numDOF\n DOF not supported by this type of constraint";
return;
}
// check the main degree of freedom. Assign auxilary DOF
if ( MainDOF!= 2 && MainDOF!=3 ) {
opserr << "MP_Joint2D::MP_Joint2D - Wrong main degree of freedom" ;
return;
}
if ( MainDOF == 2 ) AuxDOF = 3;
if ( MainDOF == 3 ) AuxDOF = 2;
// check the fixed end flag
if ( FixedEnd!= 0 && FixedEnd!=1 ) {
opserr << "MP_Joint2D::MP_Joint2D - Wrong fixed end flag";
return;
}
// check for proper dimensions of coordinate space
const Vector &crdR = RetainedNode->getCrds();
int dimR = crdR.Size();
const Vector &crdC = ConstrainedNode->getCrds();
int dimC = crdC.Size();
if (dimR != 2 || dimC != 2 ){
opserr << "MP_Joint2D::MP_Joint2D - mismatch in dimnesion\n dimension not supported by this type of constraint";
return;
}
// calculate the initial length of the rigid link
double deltaX = crdC(0) - crdR(0);
double deltaY = crdC(1) - crdR(1);
Length0 = sqrt( deltaX*deltaX + deltaY*deltaY );
if ( Length0 <= 1.0e-12 ) {
opserr << "MP_Joint2D::MP_Joint2D - The constraint length is zero\n";
}
// allocate and set up the constranted and retained id's
// allocate and set up the constraint matrix
if ( FixedEnd == 0 )
{
// the end is released
constrDOF = new ID(CnumDOF-1);
retainDOF = new ID(RnumDOF-1);
(*constrDOF)(0) = 0;
(*constrDOF)(1) = 1;
(*retainDOF)(0) = 0;
(*retainDOF)(1) = 1;
(*retainDOF)(2) = MainDOF;
constraint = new Matrix( CnumDOF-1 , RnumDOF-1 );
(*constraint) (0,0) = 1.0 ;
(*constraint) (0,2) = -deltaY ;
(*constraint) (1,1) = 1.0 ;
(*constraint) (1,2) = deltaX ;
} else
{
// the end is fixed
constrDOF = new ID(CnumDOF);
retainDOF = new ID(RnumDOF);
(*constrDOF)(0) = 0;
(*constrDOF)(1) = 1;
(*constrDOF)(2) = 2;
(*retainDOF)(0) = 0;
(*retainDOF)(1) = 1;
(*retainDOF)(2) = 2;
(*retainDOF)(3) = 3;
constraint = new Matrix( CnumDOF , RnumDOF );
(*constraint) (0,0) = 1.0 ;
(*constraint) (0,MainDOF) = -deltaY ;
(*constraint) (1,1) = 1.0 ;
(*constraint) (1,MainDOF) = deltaX ;
(*constraint) (2,AuxDOF) = 1.0 ;
}
if (constrDOF == NULL || retainDOF == NULL ) {
opserr << "MP_Joint2D::MP_Joint2D - ran out of memory \ncan not generate ID for nodes\n";
exit(-1);
}
if (constraint == NULL ) {
opserr << "MP_Joint2D::MP_Joint2D - ran out of memory \ncan not generate the constraint matrix";
exit(-1);
}
}
RigidBeam::RigidBeam(Domain &theDomain, int nR, int nC) {
// get a pointer to the retained and constrained nodes - make sure they exist
Node *nodeR = theDomain.getNode(nR);
if (nodeR == 0) {
opserr << "RigidBeam::RigidBeam - retained Node" << nR << "not in domain\n";
return;
}
Node *nodeC = theDomain.getNode(nC);
if (nodeR == 0) {
opserr << "RigidBeam::RigidBeam - constrained Node" << nC << "not in domain\n";
return;
}
// get the coordinates of the two nodes - check dimensions are the same FOR THE MOMENT
const Vector &crdR = nodeR->getCrds();
const Vector &crdC = nodeC->getCrds();
int dimR = crdR.Size();
int dimC = crdC.Size();
if (dimR != dimC) {
opserr << "RigidBeam::RigidBeam - mismatch in dimension " <<
"between constrained Node " << nC << " and Retained node" << nR << endln;
return;
}
// check the number of dof at each node is the same
int numDOF = nodeR->getNumberDOF();
if (numDOF != nodeC->getNumberDOF()) {
opserr << "RigidBeam::RigidBeam - mismatch in numDOF " <<
"between constrained Node " << nC << " and Retained node" << nR << endln;
return;
}
// check the number of dof at the nodes >= dimension of problem
if(numDOF < dimR) {
opserr << "RigidBeam::RigidBeam - numDOF at nodes " <<
nR << " and " << nC << "must be >= dimension of problem\n";
return;
}
// create the ID to identify the constrained dof
ID id(numDOF);
// construct the tranformation matrix Ccr, where Uc = Ccr Ur & set the diag, Ccr = I
Matrix mat(numDOF,numDOF);
mat.Zero();
// set the values
for (int i=0; i<numDOF; i++) {
mat(i,i) = 1.0;
id(i) = i;
}
// if there are rotational dof - we must modify Ccr DONE ASSUMING SMALL ROTATIONS
if (dimR != numDOF) {
if (dimR == 2 && numDOF == 3) {
double deltaX = crdC(0) - crdR(0);
double deltaY = crdC(1) - crdR(1);
mat(0,2) = -deltaY;
mat(1,2) = deltaX;
} else if (dimR == 3 && numDOF == 6) {
double deltaX = crdC(0) - crdR(0);
double deltaY = crdC(1) - crdR(1);
double deltaZ = crdC(2) - crdR(2);
// rotation about z/3 axis
mat(0,5) = -deltaY;
mat(1,5) = deltaX;
// rotation about y/2 axis
mat(0,4) = deltaZ;
mat(2,4) = -deltaX;
// rotation about x/1 axis
mat(1,3) = -deltaZ;
mat(2,3) = deltaY;
} else { // not valid
opserr << "RigidBeam::RigidBeam - for nodes " <<
nR << "and " << nC << "nodes do not have valid numDOF for their dimension\n";
return;
}
}
// create the MP_Constraint
MP_Constraint *newC = new MP_Constraint(nR, nC, mat, id, id);
if (newC == 0) {
opserr << "RigidBeam::RigidBeam - for nodes " << nC << " and " << nR << ", out of memory\n";
} else {
// add the constraint to the domain
if (theDomain.addMP_Constraint(newC) == false) {
opserr << "RigidBeam::RigidBeam - for nodes " << nC << " and " << nR << ", could not add to domain\n";
delete newC;
}
}
}
//! @brief Constructor.
//! @param theDomain: domain where the constraint is defined.
//! @param tag: tag for the multi-freedom constraint.
//! @param nodeRetain: identifier of the retained node.
//! @param nodeConstr: identifier of the constrained node.
//! @param LrgDsp: true if large displacement (geometric non-linearity) must be expected: 0 for constant constraint matrix(small deformations), 1 for time varying constraint matrix(large deformations), 2 for large deformations with length correction.
XC::MFreedom_Joint2D::MFreedom_Joint2D(Domain *domain, int tag, int nodeRetain, int nodeConstr,int Maindof, int fixedend, int LrgDsp )
: MFreedom_Joint(domain,tag,CNSTRNT_TAG_MFreedom_Joint2D,nodeRetain,nodeConstr,LrgDsp),
MainDOF(Maindof), AuxDOF(0), FixedEnd(fixedend)
{
setDomain(domain);
// check for proper degrees of freedom
int RnumDOF = RetainedNode->getNumberDOF();
int CnumDOF = ConstrainedNode->getNumberDOF();
if(RnumDOF != 4 || CnumDOF != 3 )
{
std::cerr << "MFreedom_Joint2D::MFreedom_Joint2D - mismatch in numDOF\n DOF not supported by this type of constraint";
return;
}
// check the XC::main degree of freedom. Assign auxilary DOF
if( MainDOF!= 2 && MainDOF!=3 )
{
std::cerr << "MFreedom_Joint2D::MFreedom_Joint2D - Wrong main degree of freedom" ;
return;
}
if(MainDOF == 2 ) AuxDOF = 3;
if(MainDOF == 3 ) AuxDOF = 2;
// check the fixed end flag
if( FixedEnd!= 0 && FixedEnd!=1 )
{
std::cerr << "XC::MFreedom_Joint2D::MFreedom_Joint2D - Wrong fixed end flag";
return;
}
// check for proper dimensions of coordinate space
const Vector &crdR = RetainedNode->getCrds();
int dimR = crdR.Size();
const Vector &crdC = ConstrainedNode->getCrds();
int dimC = crdC.Size();
if(dimR != 2 || dimC != 2 )
{
std::cerr << "MFreedom_Joint2D::MFreedom_Joint2D - mismatch in dimnesion\n dimension not supported by this type of constraint";
return;
}
// calculate the initial length of the rigid link
double deltaX = crdC(0) - crdR(0);
double deltaY = crdC(1) - crdR(1);
Length0 = sqrt( deltaX*deltaX + deltaY*deltaY );
if( Length0 <= 1.0e-12 )
{
std::cerr << "XC::MFreedom_Joint2D::MFreedom_Joint2D - The constraint length is zero\n";
}
// allocate and set up the constranted and retained id's
// allocate and set up the constraint matrix
if( FixedEnd == 0 )
{
// the end is released
set_constrained_dofs(ID(CnumDOF-1));
set_retained_dofs(ID(RnumDOF-1));
constrDOF(0) = 0;
constrDOF(1) = 1;
retainDOF(0) = 0;
retainDOF(1) = 1;
retainDOF(2) = MainDOF;
set_constraint(Matrix( CnumDOF-1 , RnumDOF-1 ));
constraintMatrix(0,0) = 1.0 ;
constraintMatrix(0,2) = -deltaY ;
constraintMatrix(1,1) = 1.0 ;
constraintMatrix(1,2) = deltaX ;
}
else
{
// the end is fixed
constrDOF = ID(CnumDOF);
retainDOF = ID(RnumDOF);
constrDOF(0) = 0;
constrDOF(1) = 1;
constrDOF(2) = 2;
retainDOF(0) = 0;
retainDOF(1) = 1;
retainDOF(2) = 2;
retainDOF(3) = 3;
constraintMatrix= Matrix(CnumDOF,RnumDOF);
constraintMatrix(0,0) = 1.0 ;
constraintMatrix(0,MainDOF) = -deltaY ;
constraintMatrix(1,1) = 1.0 ;
constraintMatrix(1,MainDOF) = deltaX ;
constraintMatrix(2,AuxDOF) = 1.0 ;
}
if(constraintMatrix.isEmpty())
{
std::cerr << getClassName() << "::" << __FUNCTION__
<< "; ran out of memory \ncan not generate the constraint matrix";
exit(-1);
}
}
