Vector
BeamContact2Dp::Get_dxc_xixi(double xi)
// this function computes the second derivative of x_c wrt xi
{
double ddH1;
double ddH2;
double ddH3;
double ddH4;
Vector a1(BC2D_NUM_DIM);
Vector b1(BC2D_NUM_DIM);
Vector ddx(BC2D_NUM_DIM);
// second derivatives of Hermitian basis functions
ddH1 = -6.0 + 12.0*xi;
ddH2 = -4.0 + 6.0*xi;
ddH3 = 6.0 - 12.0*xi;
ddH4 = -2.0 + 6.0*xi;
// tangent vectors
a1 = Geta1();
b1 = Getb1();
// compute current curvature vector
ddx = mDcrd_a*ddH1 + a1*mLength*ddH2 + mDcrd_b*ddH3 + b1*mLength*ddH4;
return ddx;
}
bool ElasticCable::evalSol (Vector& s, const FiniteElement& fe, const Vec3& X,
const std::vector<int>& MNPC) const
{
// Extract element displacements
Vector eV;
int ierr = 0;
if (!primsol.empty() && !primsol.front().empty())
if ((ierr = utl::gather(MNPC,3,primsol.front(),eV)))
{
std::cerr <<" *** ElasticCable::evalSol: Detected "<< ierr
<<" node numbers out of range."<< std::endl;
return false;
}
// Set up reference and current configuration
Vec3 dX(fe.G.getColumn(1));
Vec3 ddX(fe.G.getColumn(2));
Vec3 x(X);
Vec3 dx(dX);
Vec3 ddx(ddX);
for (size_t i = 0; i < 3; i++)
{
x[i] += eV.dot(fe.N,i,3);
dx[i] += eV.dot(fe.dNdX,i,3);
ddx[i] += eV.dot(fe.d2NdX2,i,3);
}
#if INT_DEBUG > 1
std::cout <<"ElasticCable: X = "<< X <<" u = "<< X-x <<"\n";
std::cout <<"ElasticCable: x = "<< x <<" dx = "<< dx <<" ddx = "<< ddx <<"\n";
#endif
// Compute local coordinate systems of the reference and current configuration
Vec3 B_unit, N_unit;
double B_len, N_len;
if (!evalLocalAxes(dX,ddX,B_unit,N_unit,B_len,N_len))
return false;
Vec3 b_unit, n_unit;
double b_len, n_len;
if (!evalLocalAxes(dx,ddx,b_unit,n_unit,b_len,n_len))
return false;
#if INT_DEBUG > 1
std::cout <<"ElasticCable: N_unit = "<< N_unit
<<" n_unit = "<< n_unit << std::endl;
#endif
s.resize(2);
s[0] = EA*0.5*(dx*dx - dX*dX); // Axial force
s[1] = EI*(ddx*n_unit - ddX*N_unit); // Bending moment
return true;
}
void gradientDirection(cv::Mat &input, cv::Mat &aux) {
cv::Mat ddxImage, ddyImage;
ddx(input, ddxImage);
ddy(input, ddyImage);
aux = cv::Mat(input.rows, input.cols, CV_64FC1);
for (int i = 0; i < input.rows; i++)
for (int j = 0; j < input.cols; j++) {
aux.at<double> (i, j) = atan(
ddyImage.at<double> (i, j) / ddxImage.at<double> (i, j));
}
}
void magnitude(cv::Mat &input, cv::Mat &aux) {
cv::Mat ddxImage, ddyImage;
ddx(input, ddxImage);
ddy(input, ddyImage);
aux = cv::Mat(input.rows, input.cols, CV_64FC1);
for (int i = 0; i < input.rows; i++)
for (int j = 0; j < input.cols; j++) {
aux.at<double> (i, j) = sqrt(
pow(ddxImage.at<double> (i, j), 2) + pow(
ddyImage.at<double> (i, j), 2));
}
}
bool ElasticCable::evalInt (LocalIntegral& elmInt,
const FiniteElement& fe,
const Vec3& X) const
{
size_t a, aa, b, bb;
unsigned char i, j, k, l, o;
const size_t nen = fe.N.size();
// Set up reference configuration
Vec3 dX(fe.G.getColumn(1));
Vec3 ddX(fe.G.getColumn(2));
#if INT_DEBUG > 1
std::cout <<"ElasticCable: X = "<< X <<" dX = "<< dX <<" ddX = "<< ddX <<"\n";
#endif
// Compute current configuration
ElmMats& elMat = static_cast<ElmMats&>(elmInt);
const Vector& eV = elMat.vec.front(); // Current displacement vector
Vec3 x(X);
Vec3 dx(dX);
Vec3 ddx(ddX);
for (i = 0; i < 3; i++)
{
x[i] += eV.dot(fe.N,i,3);
dx[i] += eV.dot(fe.dNdX,i,3);
ddx[i] += eV.dot(fe.d2NdX2,i,3);
}
#if INT_DEBUG > 1
std::cout <<"ElasticCable: x = "<< x <<" dx = "<< dx <<" ddx = "<< ddx <<"\n";
#endif
// Compute local coordinate systems of the reference and current configuration
Vec3 B_unit, N_unit;
double B_len, N_len;
if (!evalLocalAxes(dX,ddX,B_unit,N_unit,B_len,N_len)) return false;
#if INT_DEBUG > 1
std::cout <<"ElasticCable: B_unit = "<< B_unit <<" N_unit = "<< N_unit <<"\n";
#endif
Vec3 b_unit, n_unit;
double b_len, n_len;
if (!evalLocalAxes(dx,ddx,b_unit,n_unit,b_len,n_len)) return false;
Vec3 bin = b_unit * b_len;
double b_len2 = b_len * b_len;
Vec3 n = n_unit * n_len;
double n_len2 = n_len * n_len;
#if INT_DEBUG > 1
std::cout <<"ElasticCable: b = "<< bin <<" b_unit = "<< b_unit
<<"\n n = "<< n <<" n_unit = "<< n_unit << std::endl;
#endif
// Calculate derivative of b_unit
std::vector<Matrix> db(nen,Matrix(3,3)), db_unit(nen,Matrix(3,3));
std::vector<Vec3> db_normal(nen);
for (i = 1; i <= 3; i++)
for (k = 1; k <= 3; k++)
for (l = 1; l <= 3; l++)
{
double eps_kli = 0.5*(k-l)*(l-i)*(i-k);
double eps_kil = 0.5*(k-i)*(i-l)*(l-k);
for (a = 1; a <= nen; a++)
db[a-1](k,i) += (eps_kil*fe.dNdX(a,1)*ddx[l-1] +
eps_kli*dx[l-1]*fe.d2NdX2(a,1,1));
}
for (i = 1; i <= 3; i++)
for (a = 0; a < nen; a++)
for (k = 1; k <= 3; k++)
db_normal[a][i-1] += b_unit[k-1]*db[a](k,i);
for (i = 1; i <= 3; i++)
for (k = 1; k <= 3; k++)
for (a = 0; a < nen; a++)
db_unit[a](k,i) += (db[a](k,i) - b_unit[k-1]*db_normal[a][i-1])/b_len;
#if INT_DEBUG > 2
std::cout <<"ElasticCable: db_unit:\n";
for (a = 0; a < nen; a++)
std::cout <<"node "<< a+1 << db_unit[a];
#endif
// Calculate second derivative of b_unit
std::vector< std::vector<Matrix3D> > ddb(nen), ddb_unit(nen);
std::vector< std::vector<Matrix> > ddb_normal(nen);
for (a = 0; a < nen; a++)
{
ddb[a].resize(nen,Matrix3D(3,3,3));
ddb_unit[a].resize(nen,Matrix3D(3,3,3));
ddb_normal[a].resize(nen,Matrix(3,3));
}
for (i = 1; i <= 3; i++)
for (j = 1; j <= 3; j++)
for (k = 1; k <= 3; k++)
{
double eps_kij = 0.5*(k-i)*(i-j)*(j-k);
double eps_kji = 0.5*(k-j)*(j-i)*(i-k);
for (a = 1; a <= nen; a++)
for (b = 1; b <= nen; b++)
ddb[a-1][b-1](k,i,j) = (eps_kji*fe.d2NdX2(a,1,1)*fe.dNdX(b,1) +
eps_kij*fe.d2NdX2(b,1,1)*fe.dNdX(a,1));
}
#if INT_DEBUG > 3
std::cout <<"ElasticCable: ddb:\n";
for (a = 0; a < nen; a++)
for (b = 0; b < nen; b++)
std::cout <<"nodes "<< a+1 <<","<< b+1 << ddb[a][b];
#endif
for (i = 1; i <= 3; i++)
for (j = 1; j <= 3; j++)
for (a = 0; a < nen; a++)
for (b = 0; b < nen; b++)
for (k = 1; k <= 3; k++)
ddb_normal[a][b](i,j) += (ddb[a][b](k,i,j)*bin[k-1] +
db[a](k,i)*db[b](k,j) -
bin[k-1]*db[a](k,i)*bin[k-1]*db[b](k,j) /
b_len2) / b_len;
#if INT_DEBUG > 3
std::cout <<"ElasticCable: ddb_normal:\n";
for (a = 0; a < nen; a++)
for (b = 0; b < nen; b++)
std::cout <<"nodes "<< a+1 <<","<< b+1 << ddb_normal[a][b];
#endif
for (i = 1; i <= 3; i++)
for (j = 1; j <= 3; j++)
for (a = 0; a < nen; a++)
for (b = 0; b < nen; b++)
for (k = 1; k <= 3; k++)
ddb_unit[a][b](k,i,j) = (ddb[a][b](k,i,j)/b_len -
db[a](k,i)*db_normal[b][j-1]/b_len2 -
db[b](k,j)*db_normal[a][i-1]/b_len2 -
bin[k-1]*(ddb_normal[a][b](i,j) -
db_normal[a][i-1]*
db_normal[b][j-1]*2.0 /
b_len) / b_len2);
#if INT_DEBUG > 2
std::cout <<"ElasticCable: ddb_unit:\n";
for (a = 0; a < nen; a++)
for (b = 0; b < nen; b++)
std::cout <<"nodes "<< a+1 <<","<< b+1 << ddb_unit[a][b];
#endif
// Calculate derivative of n_unit
std::vector<Matrix> dn(nen,Matrix(3,3)), dn_unit(nen,Matrix(3,3));
std::vector<Vec3> dn_normal(nen);
for (i = 1; i <= 3; i++)
for (k = 1; k <= 3; k++)
for (l = 1; l <= 3; l++)
{
double eps_kli = 0.5*(k-l)*(l-i)*(i-k);
for (a = 0; a < nen; a++)
{
dn[a](k,i) += eps_kli*b_unit[l-1]*fe.dNdX(1+a,1);
for (o = 1; o <= 3; o++)
{
double eps_kol = 0.5*(k-o)*(o-l)*(l-k);
dn[a](k,i) += eps_kol*db_unit[a](o,i)*dx[l-1];
}
}
}
for (i = 1; i <= 3; i++)
for (a = 0; a < nen; a++)
for (k = 1; k <= 3; k++)
dn_normal[a][i-1] += n_unit[k-1]*dn[a](k,i);
for (i = 1; i <= 3; i++)
for (k = 1; k <= 3; k++)
for (a = 0; a < nen; a++)
dn_unit[a](k,i) += (dn[a](k,i) - n_unit[k-1]*dn_normal[a][i-1])/n_len;
#if INT_DEBUG > 2
std::cout <<"\nElasticCable: dn_unit:\n";
for (a = 0; a < nen; a++)
std::cout <<"node "<< a+1 << dn_unit[a];
#endif
// Calculate second derivative of n_unit
std::vector< std::vector<Matrix3D> > ddn(nen), ddn_unit(nen);
std::vector< std::vector<Matrix> > ddn_normal(nen);
for (a = 0; a < nen; a++)
{
ddn[a].resize(nen,Matrix3D(3,3,3));
ddn_unit[a].resize(nen,Matrix3D(3,3,3));
ddn_normal[a].resize(nen,Matrix(3,3));
}
for (i = 1; i <= 3; i++)
for (j = 1; j <= 3; j++)
for (a = 0; a < nen; a++)
for (b = 0; b < nen; b++)
for (k = 1; k <= 3; k++)
for (o = 1; o <= 3; o++)
{
double eps_koj = 0.5*(k-o)*(o-j)*(j-k);
double eps_koi = 0.5*(k-o)*(o-i)*(i-k);
ddn[a][b](k,i,j) += (eps_koj*db_unit[a](o,i)*fe.dNdX(1+b,1) +
eps_koi*db_unit[b](o,j)*fe.dNdX(1+a,1));
for (l = 1; l <= 3; l++)
{
double eps_kol = 0.5*(k-o)*(o-l)*(l-k);
ddn[a][b](k,i,j) += eps_kol*ddb_unit[a][b](o,i,j)*dx[l-1];
}
}
for (i = 1; i <= 3; i++)
for (j = 1; j <= 3; j++)
for (a = 0; a < nen; a++)
for (b = 0; b < nen; b++)
for (k = 1; k <= 3; k++)
ddn_normal[a][b](i,j) += (ddn[a][b](k,i,j)*n[k-1] +
dn[a](k,i)*dn[b](k,j) -
n[k-1]*dn[a](k,i)*
n[k-1]*dn[b](k,j)/n_len2) / n_len;
for (i = 1; i <= 3; i++)
for (j = 1; j <= 3; j++)
for (a = 0; a < nen; a++)
for (b = 0; b < nen; b++)
for (k = 1; k <= 3; k++)
ddn_unit[a][b](k,i,j) = (ddn[a][b](k,i,j)/n_len -
dn[a](k,i)*dn_normal[b][j-1]/n_len2 -
dn[b](k,j)*dn_normal[a][i-1]/n_len2 -
n[k-1]*(ddn_normal[a][b](i,j) -
dn_normal[a][i-1]*
dn_normal[b][j-1]*2.0 /
n_len) / n_len2);
#if INT_DEBUG > 2
std::cout <<"ElasticCable: ddn_unit:\n";
for (a = 0; a < nen; a++)
for (b = 0; b < nen; b++)
std::cout <<"nodes "<< a+1 <<","<< b+1 << ddn_unit[a][b];
#endif
// Axial strain
double eps = 0.5*(dx*dx - dX*dX);
// Derivative of the axial strain
Vector deps(3*nen);
for (a = aa = 1; a <= nen; a++)
for (i = 1; i <= 3; i++, aa++)
deps(aa) = fe.dNdX(a,1)*dx[i-1];
// Second derivative of the axial strain
Matrix ddeps(3*nen,3*nen);
for (a = 1; a <= nen; a++)
for (b = 1; b <= nen; b++)
for (i = 1; i <= 3; i++)
ddeps(3*(a-1)+i,3*(b-1)+i) = fe.dNdX(a,1)*fe.dNdX(b,1);
// Curvature
double kappa = (ddx*n_unit - ddX*N_unit);
// Derivative of the curvature
Vector dkappa(3*nen);
for (a = aa = 1; a <= nen; a++)
for (i = 1; i <= 3; i++, aa++)
{
dkappa(aa) = fe.d2NdX2(a,1,1)*n_unit[i-1];
for (k = 1; k <= 3; k++)
dkappa(aa) += ddx[k-1]*dn_unit[a-1](k,i);
}
// Second derivative of the curvature
Matrix ddkappa(3*nen,3*nen);
for (a = 0, aa = 1; a < nen; a++)
for (i = 1; i <= 3; i++, aa++)
for (b = 0, bb = 1; b < nen; b++)
for (j = 1; j <= 3; j++, bb++)
{
ddkappa(aa,bb) = (fe.d2NdX2(1+a,1,1)*dn_unit[b](i,j) +
fe.d2NdX2(1+b,1,1)*dn_unit[a](j,i));
for (k = 1; k <= 3; k++)
ddkappa(aa,bb) += ddx[k-1]*ddn_unit[a][b](k,i,j);
}
#if INT_DEBUG > 1
std::cout <<"ElasticCable: eps = "<< eps <<" kappa = "<< kappa
<<"\ndeps:"<< deps <<"dkappa:"<< dkappa
<<"ddeps:"<< ddeps <<"ddkappa:"<< ddkappa;
#endif
// Norm of initial contravariant basis (G^1)
double normG1contr2 = 1.0 / (dX.x*dX.x + dX.y*dX.y + dX.z*dX.z);
double normG1contr4JW = normG1contr2 * normG1contr2 * fe.detJxW;
double EAxJW = EA * normG1contr4JW; // volume-weighted axial stiffness
double EIxJW = EI * normG1contr4JW; // volume-weighted bending stiffness
if (iS)
{
// Integrate the internal forces (note the negative sign here)
elMat.b[iS-1].add(deps,-eps*EAxJW);
elMat.b[iS-1].add(dkappa,-kappa*EIxJW);
}
if (eKm)
{
// Integrate the material stiffness matrix
elMat.A[eKm-1].outer_product(deps,deps*EAxJW,true);
elMat.A[eKm-1].outer_product(dkappa,dkappa*EIxJW,true);
}
if (eKg)
{
// Integrate the geometric stiffness matrix
elMat.A[eKg-1].add(ddeps,eps*EAxJW);
elMat.A[eKg-1].add(ddkappa,kappa*EIxJW);
}
if (lineMass > 0.0)
{
double dMass = lineMass*fe.detJxW;
if (eM)
{
// Integrate the mass matrix
Matrix& M = elMat.A[eM-1];
for (a = 1; a <= nen; a++)
for (b = 1; b <= nen; b++)
for (i = 1; i <= 3; i++)
M(3*(a-1)+i,3*(b-1)+i) += fe.N(a)*fe.N(b)*dMass;
}
if (eS && !gravity.isZero())
{
// Integrate the external (gravitation) forces
Vector& S = elMat.b[eS-1];
for (a = 1; a <= nen; a++)
for (i = 1; i <= 3; i++)
S(3*(a-1)+i) += fe.N(a)*gravity[i-1]*dMass;
}
}
return true;
}