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suPointMass3DIATaylor.h

// suPointMass3DIATaylor.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// AUTHOR: Frank C. Anderson
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __suPointMass3DIATaylor_h__
#define __suPointMass3DIATaylor_h__


//=============================================================================
// INCLUDES
//=============================================================================
#include <rdTools.h>
#include <rdModelDLL.h>
#include <rdModel.h>
#include <rdPointMass3D.h>
#include "suPointMass3DIATaylorDLL.h"

const int NNC = NNX + 6;

//=============================================================================
//=============================================================================
class SUPOINTMASS3DIATAYLOR_API suPointMass3DIATaylor : public rdPointMass3D 
{
//=============================================================================
// DATA
//=============================================================================
public:
   static const int NC;
   static const int NE;
   static const int NEFOOT;
   static const int NEFRC;
   static const int CMUS;
   static const int CLIG;
   static const int CGRAV;
   static const int CCEN;
   static const int CVEL;
   static const int CINER;
   static const int CALLMUS;
   static const int CALL;
   static const double SMALL;

protected:
   char **_cNames;
   int _storageInterval;
   bool *_contactEstablished;
   double _tolContact,_tolPower;
   double *_sfrcLast,*_svelLast;
   double *_feContig,***_fe;
   double *_veContig,***_ve;
   double _at[NNC][3],_ah[NNC][NNU][3];
   rdStorage **_feStore;
   rdStorage **_veStore;
   rdStorage **_aeStore;

//=============================================================================
// METHODS
//=============================================================================
public:
   suPointMass3DIATaylor();
   virtual ~suPointMass3DIATaylor();
private:
   void constructComponentNames();
   void allocateElementVectors();
   void deleteStorage();

public:
   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
   // DECOMPOSITION
   void setPerformDecomposition(bool aTrueFalse,int aCapcity=100);
   rdStorage** getForceStorage();
   // STIFFNESSES
   void getStiffness(double aVel[3],double aPos[3],
         double aDFDP[3],double aDFDV[3]);
   // STORAGE INTERVAL
   void setStorageInterval(int aInterval);
   int getStorageInterval();

   //--------------------------------------------------------------------------
   // DECOMPOSITION
   //--------------------------------------------------------------------------
   void decompStep(double aDT,double aDFDP[3],double aDFDV[3],double aAcc[3],
         double aV[3],double aF[3]);
   void decompStep(double aDT,double aT,double aDFDP[3],double aDFDV[3],
         double aAcc[3],double aSVel[3],double aSFrc[3],
         double aV[3],double aF[3]);
   void compress(double aDT,double aDFDP,double aDFDV,double aAcc,
         double *aVe,double *aFe);
   void decompress(double aFrcLast,double aFrc,double aVelLast,double aVel,
         double *aVe,double *aFe);
   void correctForSliding(double aAlpha[3],double aF[3]);
   void correctForSliding(double aAlpha,double *aF);
   void computeHigherOrderDerivatives(int c,double t,double *dudt,
         double *ddudt,double *dddudt);


   //--------------------------------------------------------------------------
   // IO
   //--------------------------------------------------------------------------
   void printStorage(const char *aPath=NULL,double dt=-1.0);

   //--------------------------------------------------------------------------
   // CALLBACKS
   //--------------------------------------------------------------------------
   void
      integBeginCallback(int i,double dt,double t,double *x,double *y,
       void *cd=NULL);
   void
      integStepCallback(double *xtPrev,double *yPrev,int i,double dt,
       double t,double *xt,double *y,void *cd=NULL);

//=============================================================================
}; // END of class suPointMass3DIATaylor
//=============================================================================
//=============================================================================


#endif // #ifndef __suPointMass3DIATaylor_h__

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