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 &
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;
}
int SingleFPSimple2d::getResponse(int responseID, Information &eleInfo)
{
double MpDelta1, MpDelta2;
switch (responseID) {
case 1: // global forces
return eleInfo.setVector(this->getResistingForce());
case 2: // local forces
theVector.Zero();
// determine resisting forces in local system
theVector = Tlb^qb;
// add P-Delta moments
MpDelta1 = qb(0)*(ul(4)-ul(1));
theVector(2) += MpDelta1;
MpDelta2 = qb(0)*(1.0 - shearDistI)*L*ul(5);
theVector(2) -= MpDelta2;
theVector(5) += MpDelta2;
return eleInfo.setVector(theVector);
case 3: // basic forces
return eleInfo.setVector(qb);
case 4: // local displacements
return eleInfo.setVector(ul);
case 5: // basic displacements
return eleInfo.setVector(ub);
default:
return -1;
}
}
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& 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& 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 &
PY_Macro2D::getResistingForce()
{
theVector.Zero();
for (int i=0; i<4 ; i++)
theVector(i) = trans(0,i)*Tforce;
return theVector;
}
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;
}
int EEBeamColumn2d::getResponse(int responseID, Information &eleInfo)
{
double L = theCoordTransf->getInitialLength();
double alpha;
static Vector qA(3);
switch (responseID) {
case 1: // global forces
return eleInfo.setVector(this->getResistingForce());
case 2: // local forces
/* transform forces from basic sys B to basic sys A (linear)
qA(0) = (*qDaq)[0];
qA(1) = -L*(*qDaq)[1] - (*qDaq)[2];
qA(2) = (*qDaq)[2];*/
// transform forces from basic sys B to basic sys A (nonlinear)
alpha = atan2((*db)[1],L+(*db)[0]);
qA(0) = cos(alpha)*(*qDaq)[0] + sin(alpha)*(*qDaq)[1];
qA(1) = (*db)[1]*(*qDaq)[0] - (L+(*db)[0])*(*qDaq)[1] - (*qDaq)[2];
qA(2) = (*qDaq)[2];
// Axial
theVector(0) = -qA(0) + pA0[0];
theVector(3) = qA(0);
// Shear
theVector(1) = (qA(1)+qA(2))/L + pA0[1];
theVector(4) = -(qA(1)+qA(2))/L + pA0[2];
// Moment
theVector(2) = qA(1);
theVector(5) = qA(2);
return eleInfo.setVector(theVector);
case 3: // forces in basic system B
return eleInfo.setVector(*qDaq);
case 4: // ctrl displacements in basic system B
return eleInfo.setVector(dbCtrl);
case 5: // ctrl velocities in basic system B
return eleInfo.setVector(vbCtrl);
case 6: // ctrl accelerations in basic system B
return eleInfo.setVector(abCtrl);
case 7: // daq displacements in basic system B
return eleInfo.setVector(this->getBasicDisp());
case 8: // daq velocities in basic system B
return eleInfo.setVector(this->getBasicVel());
case 9: // daq accelerations in basic system B
return eleInfo.setVector(this->getBasicAccel());
default:
return -1;
}
}
int ElastomericBearingBoucWen2d::getResponse(int responseID, Information &eleInfo)
{
double kGeo1, MpDelta1, MpDelta2, MpDelta3;
switch (responseID) {
case 1: // global forces
return eleInfo.setVector(this->getResistingForce());
case 2: // local forces
theVector.Zero();
// determine resisting forces in local system
theVector.addMatrixTransposeVector(0.0, Tlb, qb, 1.0);
// add P-Delta moments
kGeo1 = 0.5*qb(0);
MpDelta1 = kGeo1*(ul(4)-ul(1));
theVector(2) += MpDelta1;
theVector(5) += MpDelta1;
MpDelta2 = kGeo1*shearDistI*L*ul(2);
theVector(2) += MpDelta2;
theVector(5) -= MpDelta2;
MpDelta3 = kGeo1*(1.0 - shearDistI)*L*ul(5);
theVector(2) -= MpDelta3;
theVector(5) += MpDelta3;
return eleInfo.setVector(theVector);
case 3: // basic forces
return eleInfo.setVector(qb);
case 4: // local displacements
return eleInfo.setVector(ul);
case 5: // basic displacements
return eleInfo.setVector(ub);
case 6: // hysteretic evolution parameter
return eleInfo.setDouble(z);
case 7: // dzdu
return eleInfo.setDouble(dzdu);
case 8: // basic stiffness
return eleInfo.setDouble(kb(1,1));
default:
return -1;
}
}
vector3df Camera::ProjectToSphere(vector2df ndc)
{
vector3df theVector(ndc.x, ndc.y, 0.0f);
float theLength = ndc.length();
// If the mouse coordinate lies outside the sphere
// choose the closest point on the sphere by
// setting z to zero and renomalizing
if (theLength >= 1.0f)
{
theVector.x /= (float)sqrt(theLength);
theVector.y /= (float)sqrt(theLength);
}
else
{
theVector.z = 1.0f - theLength;
}
//D3DXVec3Normalize(&theVector, &theVector);
return theVector;
}
int ElastomericBearing2d::getResponse(int responseID, Information &eleInfo)
{
double kGeo1, MpDelta1, MpDelta2, MpDelta3;
switch (responseID) {
case 1: // global forces
return eleInfo.setVector(this->getResistingForce());
case 2: // local forces
theVector.Zero();
// determine resisting forces in local system
theVector = Tlb^qb;
// add P-Delta moments
kGeo1 = 0.5*qb(0);
MpDelta1 = kGeo1*(ul(4)-ul(1));
theVector(2) += MpDelta1;
theVector(5) += MpDelta1;
MpDelta2 = kGeo1*shearDistI*L*ul(2);
theVector(2) += MpDelta2;
theVector(5) -= MpDelta2;
MpDelta3 = kGeo1*(1.0 - shearDistI)*L*ul(5);
theVector(2) -= MpDelta3;
theVector(5) += MpDelta3;
return eleInfo.setVector(theVector);
case 3: // basic forces
return eleInfo.setVector(qb);
case 4: // local displacements
return eleInfo.setVector(ul);
case 5: // basic displacements
return eleInfo.setVector(ub);
default:
return -1;
}
}
void
ElasticForceBeamColumn2d::Print(OPS_Stream &s, int flag)
{
static Vector Se(NEBD);
static Vector vp(NEBD);
static Matrix fe(NEBD,NEBD);
if (flag == 2) {
s << "#ElasticForceBeamColumn2D\n";
const Vector &node1Crd = theNodes[0]->getCrds();
const Vector &node2Crd = theNodes[1]->getCrds();
const Vector &node1Disp = theNodes[0]->getDisp();
const Vector &node2Disp = theNodes[1]->getDisp();
s << "#NODE " << node1Crd(0) << " " << node1Crd(1)
<< " " << node1Disp(0) << " " << node1Disp(1) << " " << node1Disp(2) << endln;
s << "#NODE " << node2Crd(0) << " " << node2Crd(1)
<< " " << node2Disp(0) << " " << node2Disp(1) << " " << node2Disp(2) << endln;
this->computeBasicForces(Se);
double P = Se(0);
double M1 = Se(1);
double M2 = Se(2);
double L = crdTransf->getInitialLength();
double V = (M1+M2)/L;
double p0[3]; p0[0] = 0.0; p0[1] = 0.0; p0[2] = 0.0;
if (numEleLoads > 0)
this->computeReactions(p0);
s << "#END_FORCES " << -P+p0[0] << " " << V+p0[1] << " " << M1 << endln;
s << "#END_FORCES " << P << " " << -V+p0[2] << " " << M2 << endln;
// plastic hinge rotation
this->getInitialFlexibility(fe);
vp = crdTransf->getBasicTrialDisp();
vp.addMatrixVector(1.0, fe, Se, -1.0);
s << "#PLASTIC_HINGE_ROTATION " << vp[1] << " " << vp[2] << " " << 0.1*L << " " << 0.1*L << endln;
/*
// allocate array of vectors to store section coordinates and displacements
static int maxNumSections = 0;
static Vector *coords = 0;
static Vector *displs = 0;
if (maxNumSections < numSections) {
if (coords != 0)
delete [] coords;
if (displs != 0)
delete [] displs;
coords = new Vector [numSections];
displs = new Vector [numSections];
if (!coords) {
opserr << "NLBeamColumn3d::Print() -- failed to allocate coords array";
exit(-1);
}
int i;
for (i = 0; i < numSections; i++)
coords[i] = Vector(NDM);
if (!displs) {
opserr << "NLBeamColumn3d::Print() -- failed to allocate coords array";
exit(-1);
}
for (i = 0; i < numSections; i++)
displs[i] = Vector(NDM);
maxNumSections = numSections;
}
// compute section location & displacements
this->compSectionDisplacements(coords, displs);
// spit out the section location & invoke print on the scetion
for (int i=0; i<numSections; i++) {
s << "#SECTION " << (coords[i])(0) << " " << (coords[i])(1);
s << " " << (displs[i])(0) << " " << (displs[i])(1) << endln;
sections[i]->Print(s, flag);
}
*/
} else {
s << "\nElement: " << this->getTag() << " Type: ElasticForceBeamColumn2d ";
s << "\tConnected Nodes: " << connectedExternalNodes ;
s << "\tNumber of Sections: " << numSections;
s << "\tMass density: " << rho << endln;
beamIntegr->Print(s, flag);
crdTransf->Print(s, flag);
this->computeBasicForces(Se);
double P = Se(0);
double M1 = Se(1);
double M2 = Se(2);
double L = crdTransf->getInitialLength();
double V = (M1+M2)/L;
theVector(1) = V;
theVector(4) = -V;
double p0[3]; p0[0] = 0.0; p0[1] = 0.0; p0[2] = 0.0;
if (numEleLoads > 0)
this->computeReactions(p0);
s << "\tEnd 1 Forces (P V M): " << -P+p0[0] << " " << V+p0[1] << " " << M1 << endln;
s << "\tEnd 2 Forces (P V M): " << P << " " << -V+p0[2] << " " << M2 << endln;
if (flag == 1) {
for (int i = 0; i < numSections; i++)
s << "\numSections "<<i<<" :" << *sections[i];
}
}
}
int
ElasticForceBeamColumn2d::getResponse(int responseID, Information &eleInfo)
{
static Vector Se(NEBD);
static Vector vp(NEBD);
static Matrix fe(NEBD,NEBD);
if (responseID == 1)
return eleInfo.setVector(this->getResistingForce());
else if (responseID == 2) {
double p0[3]; p0[0] = 0.0; p0[1] = 0.0; p0[2] = 0.0;
if (numEleLoads > 0)
this->computeReactions(p0);
this->computeBasicForces(Se);
theVector(3) = Se(0);
theVector(0) = -Se(0)+p0[0];
theVector(2) = Se(1);
theVector(5) = Se(2);
double V = (Se(1)+Se(2))/crdTransf->getInitialLength();
theVector(1) = V+p0[1];
theVector(4) = -V+p0[2];
return eleInfo.setVector(theVector);
}
// Chord rotation
else if (responseID == 7) {
this->computeBasicForces(Se);
return eleInfo.setVector(Se);
}
// Chord rotation
else if (responseID == 3) {
vp = crdTransf->getBasicTrialDisp();
return eleInfo.setVector(vp);
}
// Plastic rotation
else if (responseID == 4) {
this->computeBasicForces(Se);
this->getInitialFlexibility(fe);
vp = crdTransf->getBasicTrialDisp();
vp.addMatrixVector(1.0, fe, Se, -1.0);
return eleInfo.setVector(vp);
}
// Point of inflection
else if (responseID == 5) {
double LI = 0.0;
this->computeBasicForces(Se);
if (fabs(Se(1)+Se(2)) > DBL_EPSILON) {
double L = crdTransf->getInitialLength();
LI = Se(1)/(Se(1)+Se(2))*L;
}
return eleInfo.setDouble(LI);
}
else if (responseID == 7) {
this->computeBasicForces(Se);
return eleInfo.setVector(Se);
}
else if (responseID == 10) {
double L = crdTransf->getInitialLength();
double pts[maxNumSections];
beamIntegr->getSectionLocations(numSections, L, pts);
Vector locs(numSections);
for (int i = 0; i < numSections; i++)
locs(i) = pts[i]*L;
return eleInfo.setVector(locs);
}
else if (responseID == 11) {
double L = crdTransf->getInitialLength();
double wts[maxNumSections];
beamIntegr->getSectionWeights(numSections, L, wts);
Vector weights(numSections);
for (int i = 0; i < numSections; i++)
weights(i) = wts[i]*L;
return eleInfo.setVector(weights);
}
else
return -1;
}
