int
BeamEndContact3Dp::update(void)
// this function updates variables for an incremental step n to n+1
{
Vector disp_a(6);
Vector rot_a(BEC3p_NUM_DIM);
Vector omega(BEC3p_NUM_DIM);
Matrix eMap(BEC3p_NUM_DIM,BEC3p_NUM_DIM);
// update beam node coordinates and rotations
disp_a = theNodes[0]->getTrialDisp();
for (int i = 0; i < 3; i++) {
mDcrd_a(i) = mIcrd_a(i) + disp_a(i);
rot_a(i) = disp_a(i+3);
}
// update slave node coordinates
mDcrd_s = mIcrd_s + theNodes[1]->getTrialDisp();
// update the normal vector
omega = rot_a - ((mNormal^rot_a)*mNormal);
// compute exponential map of skew(omega)
eMap = ExpMap(omega);
// compute the current normal vector
mNormal = eMap*mIniNormal;
// update penetration function
mGap = (mDcrd_s - mDcrd_a)^mNormal;
double tol = 0.000001*mRadius;
if (mGap < tol && in_bounds) {
inContact = true;
} else {
mGap = 0.0;
inContact = false;
}
// update normal contact force
if (was_inContact) {
mLambda = mPenalty*mGap;
} else {
mLambda = 0.0;
}
// update projection coordinate
mx_p = mDcrd_s - (mGap*mNormal);
return 0;
}
int
BeamEndContact3D::update(void)
// this function updates variables for an incremental step n to n+1
{
Vector disp_L(3);
Vector disp_a(6);
Vector rot_a(BEC3_NUM_DIM);
Vector omega(BEC3_NUM_DIM);
Matrix eMap(BEC3_NUM_DIM,BEC3_NUM_DIM);
// update beam node coordinates and rotations
disp_a = theNodes[0]->getTrialDisp();
for (int i = 0; i < 3; i++) {
mDcrd_a(i) = mIcrd_a(i) + disp_a(i);
rot_a(i) = disp_a(i+3);
}
// update slave node coordinates
mDcrd_s = mIcrd_s + theNodes[1]->getTrialDisp();
// update Lagrange multiplier value
disp_L = theNodes[2]->getTrialDisp();
mLambda = disp_L(0);
// update the normal vector
omega = rot_a - ((mNormal^rot_a)*mNormal);
// compute exponential map of skew(omega)
eMap = ExpMap(omega);
// compute the current normal vector
mNormal = eMap*mIniNormal;
// update gap
mGap = (mDcrd_s - mDcrd_a)^mNormal;
// update projection coordinate
mx_p = mDcrd_s - (mGap*mNormal);
// set the boolean release condition
should_be_released = (mLambda <= -mForceTol);
return 0;
}
