const Vector &
TrussSection::getResistingForceIncInertia()
{
this->getResistingForce();
// subtract external load
(*theVector) -= *theLoad;
// now include the mass portion
if (L != 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*L;
for (int i = 0; i < dimension; i++) {
(*theVector)(i) += m*accel1(i);
(*theVector)(i+numDOF2) += m*accel2(i);
}
} else {
// consistent mass matrix
double m = rho*L/6.0;
for (int i=0; i<dimension; 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&
DispBeamColumn2d::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(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);
}
// 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;
}
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& 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;
}
