const Vector&
PFEMElement3D::getResistingForceIncInertia()
{
// resize P
int ndf = this->getNumDOF();
P.resize(ndf);
P.Zero();
// get velocity, accleration
Vector v(ndf), vdot(ndf);
for(int i=0; i<4; i++) {
const Vector& accel = nodes[2*i]->getTrialAccel();
vdot(numDOFs(2*i)) = accel(0);
vdot(numDOFs(2*i)+1) = accel(1);
vdot(numDOFs(2*i)+2) = accel(2);
const Vector& vel = nodes[2*i]->getTrialVel();
v(numDOFs(2*i)) = vel(0);
v(numDOFs(2*i)+1) = vel(1);
v(numDOFs(2*i)+2) = vel(2);
const Vector& vel2 = nodes[2*i+1]->getTrialVel();
v(numDOFs(2*i+1)) = vel2(0);
v(numDOFs(2*i+1)+1) = vel2(1);
v(numDOFs(2*i+1)+2) = vel2(2);
v(numDOFs(2*i+1)+3) = vel2(3);
}
double d = v.Norm();
if(d!=d) opserr<<"v "<<this->getTag()<<"\n";
d = vdot.Norm();
if(d!=d) opserr<<"vdot "<<this->getTag()<<"\n";
P.addMatrixVector(1.0, getMass(), vdot, 1.0);
P.addMatrixVector(1.0, getDampWithK(), v, 1.0);
Vector ones(ndf);
for(int i=0;i<ndf;i++) ones(i) = 1.0;
Vector Q1(ndf), Q2(ndf);
Q1.addMatrixVector(1.0, getMass(), ones, 1.0);
Q2.addMatrixVector(1.0, getDampWithK(), ones, 1.0);
d = Q1.Norm();
if(d!=d) opserr<<"mass "<<this->getTag()<<"\n";
d = Q2.Norm();
if(d!=d) {
opserr<<"damp "<<this->getTag()<<"\n";
exit(1);
}
// get Jacobi
for(int i=0; i<4; i++) {
P(numDOFs(2*i)) -= rho*bx/24.*J;
P(numDOFs(2*i)+1) -= rho*by/24.*J;
P(numDOFs(2*i)+2) -= rho*bz/24.*J;
}
return P;
}
const Vector &
SSPquadUP::getResistingForceIncInertia()
{
// terms stemming from acceleration
const Vector &accel1 = theNodes[0]->getTrialAccel();
const Vector &accel2 = theNodes[1]->getTrialAccel();
const Vector &accel3 = theNodes[2]->getTrialAccel();
const Vector &accel4 = theNodes[3]->getTrialAccel();
// compute current resisting force
this->getResistingForce();
// compute mass matrix
this->getMass();
Vector 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);
mInternalForces.addMatrixVector(1.0, mMass, a, 1.0);
// terms stemming from velocity
const Vector &vel1 = theNodes[0]->getTrialVel();
const Vector &vel2 = theNodes[1]->getTrialVel();
const Vector &vel3 = theNodes[2]->getTrialVel();
const Vector &vel4 = theNodes[3]->getTrialVel();
Vector v(12);
v(0) = vel1(0);
v(1) = vel1(1);
v(2) = vel1(2);
v(3) = vel2(0);
v(4) = vel2(1);
v(5) = vel2(2);
v(6) = vel3(0);
v(7) = vel3(1);
v(8) = vel3(2);
v(9) = vel4(0);
v(10) = vel4(1);
v(11) = vel4(2);
// compute damping matrix
this->getDamp();
mInternalForces.addMatrixVector(1.0, mDamp, v, 1.0);
return mInternalForces;
}
/*!
Returns the correct coefficient of friction for this contact. If either
body is dynamic, and the relative velocity between them is greater than
1.0 mm/sec (should be made a parameter), then it returns the kinetic COF,
otherwise it returns the static COF.
*/
double
Contact::getCof() const
{
DynamicBody *db;
vec3 radius,vel1(vec3::ZERO),vel2(vec3::ZERO),rotvel;
if (body1->isDynamic()) {
db = (DynamicBody *)body1;
radius = db->getTran().rotation() * (loc - db->getCoG());
vel1.set(db->getVelocity()[0],db->getVelocity()[1],db->getVelocity()[2]);
rotvel.set(db->getVelocity()[3],db->getVelocity()[4],db->getVelocity()[5]);
vel1 += radius * rotvel;
}
if (body2->isDynamic()) {
db = (DynamicBody *)body2;
radius = db->getTran().rotation() * (mate->loc - db->getCoG());
vel2.set(db->getVelocity()[0],db->getVelocity()[1],db->getVelocity()[2]);
rotvel.set(db->getVelocity()[3],db->getVelocity()[4],db->getVelocity()[5]);
vel2 += radius * rotvel;
}
if ((vel1 - vel2).len() > 1.0) {
DBGP("SLIDING!");
return kcof;
}
else return cof;
}
int TwoNodeLink::update()
{
int errCode = 0;
// get global trial response
const Vector &dsp1 = theNodes[0]->getTrialDisp();
const Vector &dsp2 = theNodes[1]->getTrialDisp();
const Vector &vel1 = theNodes[0]->getTrialVel();
const Vector &vel2 = theNodes[1]->getTrialVel();
int numDOF2 = numDOF/2;
Vector ug(numDOF), ugdot(numDOF), uldot(numDOF);
for (int i=0; i<numDOF2; i++) {
ug(i) = dsp1(i); ugdot(i) = vel1(i);
ug(i+numDOF2) = dsp2(i); ugdot(i+numDOF2) = vel2(i);
}
// transform response from the global to the local system
ul.addMatrixVector(0.0, Tgl, ug, 1.0);
uldot.addMatrixVector(0.0, Tgl, ugdot, 1.0);
// transform response from the local to the basic system
ub.addMatrixVector(0.0, Tlb, ul, 1.0);
ubdot.addMatrixVector(0.0, Tlb, uldot, 1.0);
//ub = (Tlb*Tgl)*ug;
//ubdot = (Tlb*Tgl)*ugdot;
// set trial response for material models
for (int i=0; i<numDir; i++)
errCode += theMaterials[i]->setTrialStrain(ub(i),ubdot(i));
return errCode;
}
CollisionAttributes Hurtbox::resolveHurtboxCollision(Hurtbox* hb,
MapObject* obj1, MapObject* obj2) {
CollisionAttributes c(obj1);
// Very simple bouncing simulation, utilizing the property of total elastic collision
// The resulting angles are not entirely correct at this point
double mass1 = 1, mass2 = 1; // Mass should be determined in each MapObject later
Vector2D vel1(obj1->getXVel(), obj1->getYVel());
Vector2D vel2(obj2->getXVel(), obj2->getYVel());
// Calculate the new velocities
Vector2D newVel = (vel1 * (mass1 - mass2) + vel2 * 2 * mass2) / (mass1 + mass2);
Vector2D* finalVel = new Vector2D(newVel.getX(), newVel.getY());
c.setVelocity(finalVel);
return c;
}
const Vector&
PFEMElement2DBubble::getResistingForceIncInertia()
{
// resize P
int ndf = this->getNumDOF();
P.resize(ndf);
P.Zero();
// get velocity, accleration
Vector v(ndf), vdot(ndf);
for(int i=0; i<3; i++) {
const Vector& accel = nodes[2*i]->getTrialAccel();
vdot(numDOFs(2*i)) = accel(0);
vdot(numDOFs(2*i)+1) = accel(1);
const Vector& accel2 = nodes[2*i+1]->getTrialAccel(); // pressure
vdot(numDOFs(2*i+1)) = accel2(0);
const Vector& vel = nodes[2*i]->getTrialVel();
v(numDOFs(2*i)) = vel(0);
v(numDOFs(2*i)+1) = vel(1);
const Vector& vel2 = nodes[2*i+1]->getTrialVel(); // pressure
v(numDOFs(2*i+1)) = vel2(0);
}
// bubble force
Vector fp(3);
getFp(fp);
// internal force
P.addMatrixVector(1.0, getMass(), vdot, 1.0);
P.addMatrixVector(1.0, getDamp(), v, 1.0);
// external force
Vector F(6);
getF(F);
for(int i=0; i<3; i++) {
P(numDOFs(2*i)) -= F(2*i);
P(numDOFs(2*i)+1) -= F(2*i+1);
P(numDOFs(2*i+1)) -= fp(i);
}
//opserr<<"F = "<<F;
return P;
}
double
Truss::computeCurrentStrainRate(void) const
{
// NOTE method will not be called if L == 0
// determine the strain
const Vector &vel1 = theNodes[0]->getTrialVel();
const Vector &vel2 = theNodes[1]->getTrialVel();
double dLength = 0.0;
for (int i = 0; i < dimension; i++)
dLength += (vel2(i)-vel1(i))*cosX[i];
// this method should never be called with L == 0
return dLength/L;
}
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::getBasicTrialVel(void)
{
// determine global velocities
const Vector &vel1 = nodeIPtr->getTrialVel();
const Vector &vel2 = nodeJPtr->getTrialVel();
static double vg[6];
for (int i = 0; i < 3; i++) {
vg[i] = vel1(i);
vg[i+3] = vel2(i);
}
static Vector vb(3);
double oneOverL = 1.0/L;
double sl = sinTheta*oneOverL;
double cl = cosTheta*oneOverL;
vb(0) = -cosTheta*vg[0] - sinTheta*vg[1] +
cosTheta*vg[3] + sinTheta*vg[4];
vb(1) = -sl*vg[0] + cl*vg[1] + vg[2] +
sl*vg[3] - cl*vg[4];
if (nodeIOffset != 0) {
double t02 = -cosTheta*nodeIOffset[1] + sinTheta*nodeIOffset[0];
double t12 = sinTheta*nodeIOffset[1] + cosTheta*nodeIOffset[0];
vb(0) -= t02*vg[2];
vb(1) += oneOverL*t12*vg[2];
}
if (nodeJOffset != 0) {
double t35 = -cosTheta*nodeJOffset[1] + sinTheta*nodeJOffset[0];
double t45 = sinTheta*nodeJOffset[1] + cosTheta*nodeJOffset[0];
vb(0) += t35*vg[5];
vb(1) -= oneOverL*t45*vg[5];
}
vb(2) = vb(1) + vg[5] - vg[2];
return vb;
}
const Vector&
PFEMElement2DCompressible::getResistingForceIncInertia()
{
// resize P
int ndf = this->getNumDOF();
P.resize(ndf);
P.Zero();
// get velocity, accleration
Vector v(ndf), vdot(ndf);
for(int i=0; i<3; i++) {
const Vector& accel = nodes[2*i]->getTrialAccel();
vdot(numDOFs(2*i)) = accel(0);
vdot(numDOFs(2*i)+1) = accel(1);
const Vector& accel2 = nodes[2*i+1]->getTrialAccel();
vdot(numDOFs(2*i+1)) = accel2(0);
const Vector& vel = nodes[2*i]->getTrialVel();
v(numDOFs(2*i)) = vel(0);
v(numDOFs(2*i)+1) = vel(1);
const Vector& vel2 = nodes[2*i+1]->getTrialVel();
v(numDOFs(2*i+1)) = vel2(0);
}
// Ma+k1v-Gp
// Gt*v+Mp*p
P.addMatrixVector(1.0, getMass(), vdot, 1.0);
P.addMatrixVector(1.0, getDamp(), v, 1.0);
// f
double J2 = J/2.0;
for(int i=0; i<3; i++) {
P(numDOFs(2*i)) -= rho*bx/3.*J2;
P(numDOFs(2*i)+1) -= rho*by/3.*J2;
}
return P;
}
bool Game::init()
{
mShouldExit = false;
//create Timers
mpLoopTimer = new Timer;
mpMasterTimer = new Timer;
//startup allegro
if(!al_init())
{
fprintf(stderr, "failed to initialize allegro!\n");
return false;
}
//create and init GraphicsSystem
mpGraphicsSystem = new GraphicsSystem();
bool goodGraphics = mpGraphicsSystem->init( WIDTH, HEIGHT );
if(!goodGraphics)
{
fprintf(stderr, "failed to initialize GraphicsSystem object!\n");
return false;
}
mpGraphicsBufferManager = new GraphicsBufferManager();
mpSpriteManager = new SpriteManager();
//startup a lot of allegro stuff
//load image loader addon
if( !al_init_image_addon() )
{
fprintf(stderr, "image addon failed to load!\n");
return false;
}
//install audio stuff
if( !al_install_audio() )
{
fprintf(stderr, "failed to initialize sound!\n");
return false;
}
if(!al_init_acodec_addon())
{
fprintf(stderr, "failed to initialize audio codecs!\n");
return false;
}
if (!al_reserve_samples(1))
{
fprintf(stderr, "failed to reserve samples!\n");
return false;
}
//should probably be done in the InputSystem!
if( !al_install_keyboard() )
{
printf( "Keyboard not installed!\n" );
return false;
}
//should probably be done in the InputSystem!
if( !al_install_mouse() )
{
printf( "Mouse not installed!\n" );
return false;
}
//should be somewhere else!
al_init_font_addon();
if( !al_init_ttf_addon() )
{
printf( "ttf font addon not initted properly!\n" );
return false;
}
//actually load the font
mpFont = al_load_ttf_font( "cour.ttf", 20, 0 );
if( mpFont == NULL )
{
printf( "ttf font file not loaded properly!\n" );
return false;
}
//show the mouse
if( !al_hide_mouse_cursor( mpGraphicsSystem->getDisplay() ) )
{
printf( "Mouse cursor not able to be hidden!\n" );
return false;
}
if( !al_init_primitives_addon() )
{
printf( "Primitives addon not added!\n" );
return false;
}
//load the sample
mpSample = al_load_sample( "clapping.wav" );
if (!mpSample)
{
printf( "Audio clip sample not loaded!\n" );
return false;
}
mpMessageManager = new GameMessageManager();
//load buffers
mBackgroundBufferID = mpGraphicsBufferManager->loadBuffer("wallpaper.bmp");
mPlayerIconBufferID = mpGraphicsBufferManager->loadBuffer("arrow.bmp");
mEnemyIconBufferID = mpGraphicsBufferManager->loadBuffer("enemy-arrow.bmp");
//setup sprites
GraphicsBuffer* pBackGroundBuffer = mpGraphicsBufferManager->getBuffer( mBackgroundBufferID );
if( pBackGroundBuffer != NULL )
{
mpSpriteManager->createAndManageSprite( BACKGROUND_SPRITE_ID, pBackGroundBuffer, 0, 0, pBackGroundBuffer->getWidth(), pBackGroundBuffer->getHeight() );
}
GraphicsBuffer* pPlayerBuffer = mpGraphicsBufferManager->getBuffer( mPlayerIconBufferID );
Sprite* pArrowSprite = NULL;
if( pPlayerBuffer != NULL )
{
pArrowSprite = mpSpriteManager->createAndManageSprite( PLAYER_ICON_SPRITE_ID, pPlayerBuffer, 0, 0, pPlayerBuffer->getWidth(), pPlayerBuffer->getHeight() );
}
GraphicsBuffer* pAIBuffer = mpGraphicsBufferManager->getBuffer( mEnemyIconBufferID );
Sprite* pEnemyArrow = NULL;
if( pAIBuffer != NULL )
{
pEnemyArrow = mpSpriteManager->createAndManageSprite( AI_ICON_SPRITE_ID, pAIBuffer, 0, 0, pAIBuffer->getWidth(), pAIBuffer->getHeight() );
}
//setup units
Vector2D pos( 0.0f, 0.0f );
Vector2D vel( 0.0f, 0.0f );
mpUnit = new KinematicUnit( pArrowSprite, pos, 1, vel, 0.0f, 200.0f, 10.0f );
Vector2D pos2( 1000.0f, 500.0f );
Vector2D vel2( 0.0f, 0.0f );
mpAIUnit = new KinematicUnit( pEnemyArrow, pos2, 1, vel2, 0.0f, 180.0f, 100.0f );
//give steering behavior
mpAIUnit->dynamicArrive( mpUnit );
Vector2D pos3( 500.0f, 500.0f );
mpAIUnit2 = new KinematicUnit( pEnemyArrow, pos3, 1, vel2, 0.0f, 180.0f, 100.0f );
//give steering behavior
mpAIUnit2->dynamicSeek( mpUnit );
return true;
}
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;
}
int ElastomericBearingBoucWen2d::update()
{
// get global trial displacements and velocities
const Vector &dsp1 = theNodes[0]->getTrialDisp();
const Vector &dsp2 = theNodes[1]->getTrialDisp();
const Vector &vel1 = theNodes[0]->getTrialVel();
const Vector &vel2 = theNodes[1]->getTrialVel();
static Vector ug(6), ugdot(6), uldot(6), ubdot(3);
for (int i=0; i<3; i++) {
ug(i) = dsp1(i); ugdot(i) = vel1(i);
ug(i+3) = dsp2(i); ugdot(i+3) = vel2(i);
}
// transform response from the global to the local system
ul.addMatrixVector(0.0, Tgl, ug, 1.0);
uldot.addMatrixVector(0.0, Tgl, ugdot, 1.0);
// transform response from the local to the basic system
ub.addMatrixVector(0.0, Tlb, ul, 1.0);
ubdot.addMatrixVector(0.0, Tlb, uldot, 1.0);
// 1) get axial force and stiffness in basic x-direction
theMaterials[0]->setTrialStrain(ub(0), ubdot(0));
qb(0) = theMaterials[0]->getStress();
kb(0,0) = theMaterials[0]->getTangent();
// 2) calculate shear force and stiffness in basic y-direction
// get displacement increment (trial - commited)
double delta_ub = ub(1) - ubC(1);
if (fabs(delta_ub) > 0.0) {
// get yield displacement
double uy = qYield/k0;
// calculate hysteretic evolution parameter z using Newton-Raphson
int iter = 0;
double zAbs, tmp1, f, Df, delta_z;
do {
zAbs = fabs(z);
if (zAbs == 0.0) // check because of negative exponents
zAbs = DBL_EPSILON;
tmp1 = gamma + beta*sgn(z*delta_ub);
// function and derivative
f = z - zC - delta_ub/uy*(A - pow(zAbs,eta)*tmp1);
Df = 1.0 + delta_ub/uy*eta*pow(zAbs,eta-1.0)*sgn(z)*tmp1;
// issue warning if derivative Df is zero
if (fabs(Df) <= DBL_EPSILON) {
opserr << "WARNING: ElastomericBearingBoucWen2d::update() - "
<< "zero derivative in Newton-Raphson scheme for "
<< "hysteretic evolution parameter z.\n";
return -1;
}
// advance one step
delta_z = f/Df;
z -= delta_z;
iter++;
} while ((fabs(delta_z) >= tol) && (iter < maxIter));
// issue warning if Newton-Raphson scheme did not converge
if (iter >= maxIter) {
opserr << "WARNING: ElastomericBearingBoucWen2d::update() - "
<< "did not find the hysteretic evolution parameter z after "
<< iter << " iterations and norm: " << fabs(delta_z) << endln;
return -2;
}
// get derivative of hysteretic evolution parameter * uy
dzdu = A - pow(fabs(z),eta)*(gamma + beta*sgn(z*delta_ub));
// set shear force
qb(1) = qYield*z + k2*ub(1) + k3*sgn(ub(1))*pow(fabs(ub(1)),mu);
// set tangent stiffness
kb(1,1) = k0*dzdu + k2 + k3*mu*pow(fabs(ub(1)),mu-1.0);
}
// 3) get moment and stiffness about basic z-direction
theMaterials[1]->setTrialStrain(ub(2), ubdot(2));
qb(2) = theMaterials[1]->getStress();
kb(2,2) = theMaterials[1]->getTangent();
return 0;
}
const Vector &
PFEMElement2DBubble::getResistingForceSensitivity(int gradnumber)
{
// resize P
int ndf = this->getNumDOF();
P.resize(ndf);
P.Zero();
Vector dF(6), dFp(3), vdot(6), v(6), p(3), du(6);
for(int i=0; i<3; i++) {
const Vector& accel = nodes[2*i]->getTrialAccel();
vdot(2*i) = accel(0);
vdot(2*i+1) = accel(1);
const Vector& vel = nodes[2*i]->getTrialVel();
v(2*i) = vel(0);
v(2*i+1) = vel(1);
const Vector& vel2 = nodes[2*i+1]->getTrialVel(); // pressure
p(i) = vel2(0);
du(2*i) = nodes[2*i]->getDispSensitivity(1,gradnumber);
du(2*i+1) = nodes[2*i]->getDispSensitivity(2,gradnumber);
}
// consditional sensitivity
getdF(dF);
double dm = getdM();
dF.addVector(-1.0, vdot, dm);
getdFp(dFp);
Matrix dl;
getdL(dl);
dFp.addMatrixVector(-1.0, dl, p, 1.0);
// geometric sensitivity
Matrix dM, dg, df;
getdM(vdot, dM);
getdG(p, dg);
getdF(df);
dF.addMatrixVector(1.0, dM, du, 1.0);
dF.addMatrixVector(1.0, dg, du, -1.0);
dF.addMatrixVector(1.0, df, du, -1.0);
Matrix dgt, dL, dfp;
getdGt(v, dgt);
getdL(p, dL);
getdFp(dfp);
dFp.addMatrixVector(1.0, dgt, du, 1.0);
dFp.addMatrixVector(1.0, dL, du, 1.0);
dFp.addMatrixVector(1.0, dfp, du, -1.0);
// copy
for(int i=0; i<3; i++) {
P(numDOFs(2*i)) += dF(2*i);
P(numDOFs(2*i)+1) += dF(2*i+1);
P(numDOFs(2*i+1)) += dFp(i);
}
return P;
}
int ElastomericBearing2d::update()
{
// get global trial displacements and velocities
const Vector &dsp1 = theNodes[0]->getTrialDisp();
const Vector &dsp2 = theNodes[1]->getTrialDisp();
const Vector &vel1 = theNodes[0]->getTrialVel();
const Vector &vel2 = theNodes[1]->getTrialVel();
static Vector ug(6), ugdot(6), uldot(6), ubdot(3);
for (int i=0; i<3; i++) {
ug(i) = dsp1(i); ugdot(i) = vel1(i);
ug(i+3) = dsp2(i); ugdot(i+3) = vel2(i);
}
// transform response from the global to the local system
ul = Tgl*ug;
uldot = Tgl*ugdot;
// transform response from the local to the basic system
ub = Tlb*ul;
ubdot = Tlb*uldot;
// 1) get axial force and stiffness in basic x-direction
theMaterials[0]->setTrialStrain(ub(0),ubdot(0));
qb(0) = theMaterials[0]->getStress();
kb(0,0) = theMaterials[0]->getTangent();
// 2) calculate shear force and stiffness in basic y-direction
// get trial shear force of hysteretic component
double qTrial = k0*(ub(1) - ubPlasticC);
// compute yield criterion of hysteretic component
double qTrialNorm = fabs(qTrial);
double Y = qTrialNorm - qYield;
// elastic step -> no updates required
if (Y <= 0.0) {
// set shear force
qb(1) = qTrial + k2*ub(1);
// set tangent stiffness
kb(1,1) = k0 + k2;
}
// plastic step -> return mapping
else {
// compute consistency parameter
double dGamma = Y/k0;
// update plastic displacement
ubPlastic = ubPlasticC + dGamma*qTrial/qTrialNorm;
// set shear force
qb(1) = qYield*qTrial/qTrialNorm + k2*ub(1);
// set tangent stiffness
kb(1,1) = k2;
}
// 3) get moment and stiffness in basic z-direction
theMaterials[1]->setTrialStrain(ub(2),ubdot(2));
qb(2) = theMaterials[1]->getStress();
kb(2,2) = theMaterials[1]->getTangent();
return 0;
}
int SingleFPSimple2d::update()
{
// get global trial displacements and velocities
const Vector &dsp1 = theNodes[0]->getTrialDisp();
const Vector &dsp2 = theNodes[1]->getTrialDisp();
const Vector &vel1 = theNodes[0]->getTrialVel();
const Vector &vel2 = theNodes[1]->getTrialVel();
static Vector ug(6), ugdot(6), uldot(6), ubdot(3);
for (int i=0; i<3; i++) {
ug(i) = dsp1(i); ugdot(i) = vel1(i);
ug(i+3) = dsp2(i); ugdot(i+3) = vel2(i);
}
// transform response from the global to the local system
ul = Tgl*ug;
uldot = Tgl*ugdot;
// transform response from the local to the basic system
ub = Tlb*ul;
ubdot = Tlb*uldot;
// get absolute velocity
double ubdotAbs = sqrt(pow(ubdot(1)/Reff*ub(1),2) + pow(ubdot(1),2));
// 1) get axial force and stiffness in basic x-direction
double ub0Old = theMaterials[0]->getStrain();
theMaterials[0]->setTrialStrain(ub(0),ubdot(0));
qb(0) = theMaterials[0]->getStress();
kb(0,0) = theMaterials[0]->getTangent();
// check for uplift
if (qb(0) >= 0.0) {
kb = kbInit;
if (qb(0) > 0.0) {
theMaterials[0]->setTrialStrain(ub0Old,0.0);
kb(0,0) *= DBL_EPSILON;
kb(2,2) *= DBL_EPSILON;
// update plastic displacement
ubPlastic = ub(1);
}
qb.Zero();
return 0;
}
// 2) calculate shear force and stiffness in basic y-direction
int iter = 0;
double qb1Old = 0.0;
do {
// save old shear force
qb1Old = qb(1);
// get normal and friction (yield) forces
double N = -qb(0) + qb(1)/Reff*ub(1) - qb(1)*ul(2);
theFrnMdl->setTrial(N, ubdotAbs);
double qYield = (theFrnMdl->getFrictionForce());
// get stiffness of elastic component
double k2 = N/Reff;
// get initial stiffness of hysteretic component
double k0 = qYield/uy;
// get trial shear force of hysteretic component
double qTrial = k0*(ub(1) - ubPlasticC);
// compute yield criterion of hysteretic component
double qTrialNorm = fabs(qTrial);
double Y = qTrialNorm - qYield;
// elastic step -> no updates required
if (Y <= 0.0) {
// set shear force
qb(1) = qTrial + k2*ub(1) - N*ul(2);
// set tangent stiffness
kb(1,1) = k0 + k2;
}
// plastic step -> return mapping
else {
// compute consistency parameter
double dGamma = Y/k0;
// update plastic displacement
ubPlastic = ubPlasticC + dGamma*qTrial/qTrialNorm;
// set shear force
qb(1) = qYield*qTrial/qTrialNorm + k2*ub(1) - N*ul(2);
// set tangent stiffness
kb(1,1) = k2;
}
iter++;
} while ((fabs(qb(1)-qb1Old) >= tol) && (iter < maxIter));
// issue warning if iteration did not converge
if (iter >= maxIter) {
opserr << "WARNING: SingleFPSimple2d::update() - did not find the shear force after "
<< iter << " iterations and norm: " << fabs(qb(1)-qb1Old) << endln;
return -1;
}
// 3) get moment and stiffness in basic z-direction
theMaterials[1]->setTrialStrain(ub(2),ubdot(2));
qb(2) = theMaterials[1]->getStress();
kb(2,2) = theMaterials[1]->getTangent();
return 0;
}
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;
}