CorotCrdTransf3d.h

//----------------------------------------------------------------------------
//  XC program; finite element analysis code
//  for structural analysis and design.
//
//  Copyright (C)  Luis Claudio Pérez Tato
//
//  This program derives from OpenSees <http://opensees.berkeley.edu>
//  developed by the  «Pacific earthquake engineering research center».
//
//  Except for the restrictions that may arise from the copyright
//  of the original program (see copyright_opensees.txt)
//  XC is free software: you can redistribute it and/or modify
//  it under the terms of the GNU General Public License as published by
//  the Free Software Foundation, either version 3 of the License, or 
//  (at your option) any later version.
//
//  This software is distributed in the hope that it will be useful, but 
//  WITHOUT ANY WARRANTY; without even the implied warranty of
//  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
//  GNU General Public License for more details. 
//
//
// You should have received a copy of the GNU General Public License 
// along with this program.
// If not, see <http://www.gnu.org/licenses/>.
//----------------------------------------------------------------------------
/* ****************************************************************** **
**    OpenSees - Open System for Earthquake Engineering Simulation    **
**          Pacific Earthquake Engineering Research Center            **
**                                                                    **
**                                                                    **
** (C) Copyright 1999, The Regents of the University of California    **
** All Rights Reserved.                                               **
**                                                                    **
** Commercial use of this program without express permission of the   **
** University of California, Berkeley, is strictly prohibited.  See   **
** file 'COPYRIGHT'  in main directory for information on usage and   **
** redistribution,  and for a DISCLAIMER OF ALL WARRANTIES.           **
**                                                                    **
** Developed by:                                                      **
**   Frank McKenna (fmckenna@ce.berkeley.edu)                         **
**   Gregory L. Fenves (fenves@ce.berkeley.edu)                       **
**   Filip C. Filippou (filippou@ce.berkeley.edu)                     **
**                                                                    **
** ****************************************************************** */
                                                                        
// $Revision: 1.9 $                                                              
// $Date: 2006/01/13 01:07:48 $                                                                  
// $Source: /usr/local/cvs/OpenSees/SRC/CorotCrdTransf3d.h,v $      


// Written: Remo Magalhaes de Souza (rmsouza@ce.berkeley.edu)
// Created: 04/2000
// Revision: A
//
// Description: This file contains the class definition for
// CorotCrdTransf3d.h. CorotCrdTransf3d provides the
// abstraction of a corotation transformation for a spatial frame element

// What: "@(#) CorotCrdTransf3d.h, revA"

#ifndef CorotCrdTransf3d_h
#define CorotCrdTransf3d_h

#include "CrdTransf3d.h"
#include <utility/matrix/Vector.h>
#include <utility/matrix/Matrix.h>

namespace XC {
//
class CorotCrdTransf3d: public CrdTransf3d
  {
  private:
    Vector vAxis; 
    
    mutable Vector xAxis; 
    mutable double Ln; 
    
    mutable Vector alphaIq; 
    mutable Vector alphaJq; 
    
    Vector alphaIqcommit; 
    Vector alphaJqcommit; 
    mutable Vector alphaI; 
    mutable Vector alphaJ; 
    
    Vector ul; 
    Vector ulcommit; 
    Vector ulpr; 
    
    static Matrix RI; 
    static Matrix RJ; 
    static Matrix Rbar; 
    static Matrix e; 
    static Matrix Tp; 
    static Matrix T; 
    static Matrix Lr2, Lr3, A; 

    inline int computeElemtLengthAndOrient(void) const
      {
        std::cerr << "CorotCrdTransf3d::computeElemtLengthAndOrient; not implemented."
                  << std::endl;
    return 0;
      }
    void compTransfMatrixBasicGlobal(void);
    void compTransfMatrixBasicGlobalNew(void);
    const Vector &getQuaternionFromRotMatrix(const Matrix &RotMatrix) const;
    const Vector &getQuaternionFromPseudoRotVector(const Vector &theta) const;
    const Vector &getTangScaledPseudoVectorFromQuaternion(const Vector &theta) const;
    const Vector &quaternionProduct(const Vector &q1, const Vector &q2) const;
    const Matrix &getRotationMatrixFromQuaternion(const Vector &q) const;
    const Matrix &getRotMatrixFromTangScaledPseudoVector(const Vector &w) const;
    const Matrix &getSkewSymMatrix(const Vector &theta) const;
    const Matrix &getLMatrix(const Vector &ri) const;
    const Matrix &getKs2Matrix(const Vector &ri, const Vector &z) const;
    

    
    Vector &basic_to_local_element_force(const Vector &p0) const;
    const Vector &local_to_global_element_force(const Vector &) const;
  protected:    
    int sendData(CommParameters &);
    int recvData(const CommParameters &);
    virtual int calculaEjesLocales(void) const;
  public:
    CorotCrdTransf3d(int tag= 0);
    CorotCrdTransf3d(int tag, const Vector &vecInLocXZPlane,const Vector &rigJntOffsetI, const Vector &rigJntOffsetJ);
    
    int initialize(Node *nodeIPointer, Node *nodeJPointer);
    int update(void);
    double getInitialLength(void) const;
    double getDeformedLength(void) const;
    
    virtual void set_xz_vector(const Vector &vecInLocXZPlane);

    int commitState(void);
    int revertToLastCommit(void);        
    int revertToStart(void);
    
    const Vector &getBasicTrialDisp(void) const;
    const Vector &getBasicIncrDisp(void) const;
    const Vector &getBasicIncrDeltaDisp(void) const;
    const Vector &getBasicTrialVel(void) const;
    const Vector &getBasicTrialAccel(void) const;
    
    const Vector &getGlobalResistingForce(const Vector &basicForce, const Vector &uniformLoad) const;
    const Matrix &getGlobalStiffMatrix(const Matrix &basicStiff, const Vector &basicForce) const;
    const Matrix &getInitialGlobalStiffMatrix(const Matrix &basicStiff) const;
    
    CrdTransf3d *getCopy(void) const;
    
    int sendSelf(CommParameters &);
    int recvSelf(const CommParameters &);
    
    void Print(std::ostream &s, int flag = 0);
    
    // functions used in post-processing only    
    const Vector &getPointGlobalCoordFromLocal(const Vector &) const;
    const Vector &getPointGlobalDisplFromBasic(double xi, const Vector &basicDisps) const;
    const Vector &getVectorGlobalCoordFromLocal(const Vector &localCoords) const;
    const Matrix &getVectorGlobalCoordFromLocal(const Matrix &localCoords) const;
    const Vector &getVectorLocalCoordFromGlobal(const Vector &globalCoords) const;
  };
} // end of XC namespace
#endif