void
RigidArmNode :: computeMasterContribution(std::map< DofIDItem, IntArray > &masterDofID,
std::map< DofIDItem, FloatArray > &masterContribution)
{
#if 0 // original implementation without support of different LCS in slave and master
int k;
IntArray R_uvw(3), uvw(3);
FloatArray xyz(3);
int numberOfMasterDofs = masterNode->giveNumberOfDofs();
//IntArray countOfMasterDofs((int)masterDofID.size());
// decode of masterMask
uvw.at(1) = this->dofidmask->findFirstIndexOf(R_u);
uvw.at(2) = this->dofidmask->findFirstIndexOf(R_v);
uvw.at(3) = this->dofidmask->findFirstIndexOf(R_w);
xyz.beDifferenceOf(*this->giveCoordinates(), *masterNode->giveCoordinates());
if ( hasLocalCS() ) {
// LCS is stored as global-to-local, so LCS*xyz_glob = xyz_loc
xyz.rotatedWith(* this->localCoordinateSystem, 'n');
}
for ( int i = 1; i <= this->dofidmask->giveSize(); i++ ) {
Dof *dof = this->giveDofWithID(dofidmask->at(i));
DofIDItem id = dof->giveDofID();
masterDofID [ id ].resize(numberOfMasterDofs);
masterContribution [ id ].resize(numberOfMasterDofs);
R_uvw.zero();
switch ( masterMask.at(i) ) {
case 0: continue;
break;
case 1:
if ( id == D_u ) {
if ( uvw.at(2) && masterMask.at( uvw.at(2) ) ) {
R_uvw.at(3) = ( ( int ) R_v );
}
if ( uvw.at(3) && masterMask.at( uvw.at(3) ) ) {
R_uvw.at(2) = -( ( int ) R_w );
}
} else if ( id == D_v ) {
if ( uvw.at(1) && masterMask.at( uvw.at(1) ) ) {
R_uvw.at(3) = -( ( int ) R_u );
}
if ( uvw.at(3) && masterMask.at( uvw.at(3) ) ) {
R_uvw.at(1) = ( ( int ) R_w );
}
} else if ( id == D_w ) {
if ( uvw.at(1) && masterMask.at( uvw.at(1) ) ) {
R_uvw.at(2) = ( ( int ) R_u );
}
if ( uvw.at(2) && masterMask.at( uvw.at(2) ) ) {
R_uvw.at(1) = -( ( int ) R_v );
}
}
break;
default:
OOFEM_ERROR("unknown value in masterMask");
}
//k = ++countOfMasterDofs.at(i);
k = 1;
masterDofID [ id ].at(k) = ( int ) id;
masterContribution [ id ].at(k) = 1.0;
for ( int j = 1; j <= 3; j++ ) {
if ( R_uvw.at(j) != 0 ) {
int sign = R_uvw.at(j) < 0 ? -1 : 1;
//k = ++countOfMasterDofs.at(i);
k++;
masterDofID [ id ].at(k) = sign * R_uvw.at(j);
masterContribution [ id ].at(k) = sign * xyz.at(j);
}
}
masterDofID [ id ].resizeWithValues(k);
masterContribution [ id ].resizeWithValues(k);
}
#else
// receiver lcs stored in localCoordinateSystem
// (this defines the transformation from global to local)
FloatArray xyz(3);
FloatMatrix TG2L(6,6); // receiver global to receiver local
FloatMatrix TR(6,6); // rigid arm transformation between receiver global DOFs and Master global DOFs
FloatMatrix TMG2L(6,6); // master global to local
FloatMatrix T(6,6); // full transformation for all dofs
IntArray fullDofMask = {D_u, D_v, D_w, R_u, R_v, R_w};
bool hasg2l = this->computeL2GTransformation(TG2L, fullDofMask);
bool mhasg2l = masterNode->computeL2GTransformation(TMG2L, fullDofMask);
xyz.beDifferenceOf(*this->giveCoordinates(), *masterNode->giveCoordinates());
TR.beUnitMatrix();
TR.at(1,5) = xyz.at(3);
TR.at(1,6) = -xyz.at(2);
TR.at(2,4) = -xyz.at(3);
TR.at(2,6) = xyz.at(1);
TR.at(3,4) = xyz.at(2);
TR.at(3,5) = -xyz.at(1);
if (hasg2l && mhasg2l) {
FloatMatrix h;
h.beTProductOf(TG2L, TR); // T transforms global master DOfs to local dofs;
T.beProductOf(h,TMG2L); // Add transformation to master local c.s.
} else if (hasg2l) {
T.beTProductOf(TG2L, TR); // T transforms global master DOfs to local dofs;
} else if (mhasg2l) {
T.beProductOf(TR,TMG2L); // Add transformation to master local c.s.
} else {
T = TR;
}
// assemble DOF weights for relevant dofs
for ( int i = 1; i <= this->dofidmask->giveSize(); i++ ) {
Dof *dof = this->giveDofWithID(dofidmask->at(i));
DofIDItem id = dof->giveDofID();
masterDofID [ id ] = *dofidmask;
masterContribution [ id ].resize(dofidmask->giveSize());
for (int j = 1; j <= this->dofidmask->giveSize(); j++ ) {
masterContribution [ id ].at(j) = T.at(id, dofidmask->at(j));
}
}
#endif
}
void
RigidArmNode :: computeMasterContribution()
{
int k, sign;
IntArray R_uvw(3), uvw(3);
FloatArray xyz(3);
DofIDItem id;
// decode of masterMask
uvw.at(1) = this->findDofWithDofId(R_u);
uvw.at(2) = this->findDofWithDofId(R_v);
uvw.at(3) = this->findDofWithDofId(R_w);
for ( int i = 1; i <= 3; i++ ) {
xyz.at(i) = this->giveCoordinate(i) - masterNode->giveCoordinate(i);
}
if ( hasLocalCS() ) {
// LCS is stored as global-to-local, so LCS*xyz_glob = xyz_loc
xyz.rotatedWith(* this->localCoordinateSystem, 'n');
}
for ( int i = 1; i <= numberOfDofs; i++ ) {
id = this->giveDof(i)->giveDofID();
R_uvw.zero();
switch ( masterMask.at(i) ) {
case 0: continue;
break;
case 1:
if ( id == D_u ) {
if ( uvw.at(2) && masterMask.at( uvw.at(2) ) ) {
R_uvw.at(3) = ( ( int ) R_v );
}
if ( uvw.at(3) && masterMask.at( uvw.at(3) ) ) {
R_uvw.at(2) = -( ( int ) R_w );
}
} else if ( id == D_v ) {
if ( uvw.at(1) && masterMask.at( uvw.at(1) ) ) {
R_uvw.at(3) = -( ( int ) R_u );
}
if ( uvw.at(3) && masterMask.at( uvw.at(3) ) ) {
R_uvw.at(1) = ( ( int ) R_w );
}
} else if ( id == D_w ) {
if ( uvw.at(1) && masterMask.at( uvw.at(1) ) ) {
R_uvw.at(2) = ( ( int ) R_u );
}
if ( uvw.at(2) && masterMask.at( uvw.at(2) ) ) {
R_uvw.at(1) = -( ( int ) R_v );
}
}
break;
default:
_error("computeMasterContribution: unknown value in masterMask");
}
k = ++ this->countOfMasterDofs->at(i);
this->masterDofID [ i - 1 ]->at(k) = ( int ) id;
this->masterContribution [ i - 1 ]->at(k) = 1.0;
for ( int j = 1; j <= 3; j++ ) {
if ( R_uvw.at(j) != 0 ) {
sign = R_uvw.at(j) < 0 ? -1 : 1;
k = ++ this->countOfMasterDofs->at(i);
this->masterDofID [ i - 1 ]->at(k) = sign * R_uvw.at(j);
this->masterContribution [ i - 1 ]->at(k) = sign * xyz.at(j);
}
}
}
}
