Description

ANCF brick element with eight nodes.

The coordinates at each node are the position vector and 3 position vector gradients.

The node numbering is in ccw fashion as in the following scheme:

Bottom Layer:
        v
        ^
        |
D o-----+-----o C
  |     |     |
--+-----+-----+----> u
  |     |     |
A o-----+-----o B

Top Layer:
        v
        ^
        |
H o-----+-----o G
  |     |     |
--+-----+-----+----> u
  |     |     |
E o-----+-----o F

#include <ChElementHexaANCF_3843.h>

Inheritance diagram for chrono::fea::ChElementHexaANCF_3843:

[legend]

Collaboration diagram for chrono::fea::ChElementHexaANCF_3843:

[legend]

Public Types
enum	IntFrcMethod { IntFrcMethod::ContInt, IntFrcMethod::PreInt }
	Internal force calculation method. More...

template<typename T , int M, int N>
using	ChMatrixNMc = Eigen::Matrix< T, M, N, Eigen::ColMajor >

using	VectorN = ChVectorN< double, NSF >

using	Vector3N = ChVectorN< double, 3 *NSF >

using	VectorNIP = ChVectorN< double, NIP >

using	Matrix3xN = ChMatrixNM< double, 3, NSF >

using	MatrixNx3 = ChMatrixNM< double, NSF, 3 >

using	MatrixNx3c = ChMatrixNMc< double, NSF, 3 >

using	MatrixNx6 = ChMatrixNM< double, NSF, 6 >

using	MatrixNxN = ChMatrixNM< double, NSF, NSF >

Public Member Functions
virtual int	GetNnodes () override
	Get the number of nodes used by this element.

virtual int	GetNdofs () override
	Get the number of coordinates in the field used by the referenced nodes.

virtual int	GetNodeNdofs (int n) override
	Get the number of coordinates from the n-th node used by this element.

void	SetNodes (std::shared_ptr< ChNodeFEAxyzDDD > nodeA, std::shared_ptr< ChNodeFEAxyzDDD > nodeB, std::shared_ptr< ChNodeFEAxyzDDD > nodeC, std::shared_ptr< ChNodeFEAxyzDDD > nodeD, std::shared_ptr< ChNodeFEAxyzDDD > nodeE, std::shared_ptr< ChNodeFEAxyzDDD > nodeF, std::shared_ptr< ChNodeFEAxyzDDD > nodeG, std::shared_ptr< ChNodeFEAxyzDDD > nodeH)
	Specify the nodes of this element.

void	SetDimensions (double lenX, double lenY, double lenZ)
	Specify the element dimensions.

void	SetMaterial (std::shared_ptr< ChMaterialHexaANCF > brick_mat)
	Specify the element material.

std::shared_ptr< ChMaterialHexaANCF >	GetMaterial () const
	Return the material.

virtual std::shared_ptr< ChNodeFEAbase >	GetNodeN (int n) override
	Access the n-th node of this element.

virtual std::shared_ptr< ChNodeFEAxyz >	GetHexahedronNode (int n) override
	Return the specified hexahedron node (0 <= n <= 7).

std::shared_ptr< ChNodeFEAxyzDDD >	GetNodeA () const
	Get a handle to the first node of this element.

std::shared_ptr< ChNodeFEAxyzDDD >	GetNodeB () const
	Get a handle to the second node of this element.

std::shared_ptr< ChNodeFEAxyzDDD >	GetNodeC () const
	Get a handle to the third node of this element.

std::shared_ptr< ChNodeFEAxyzDDD >	GetNodeD () const
	Get a handle to the fourth node of this element.

std::shared_ptr< ChNodeFEAxyzDDD >	GetNodeE () const
	Get a handle to the 5th node of this element.

std::shared_ptr< ChNodeFEAxyzDDD >	GetNodeF () const
	Get a handle to the 6th node of this element.

std::shared_ptr< ChNodeFEAxyzDDD >	GetNodeG () const
	Get a handle to the 7th node of this element.

std::shared_ptr< ChNodeFEAxyzDDD >	GetNodeH () const
	Get a handle to the 8th node of this element.

void	SetAlphaDamp (double a)
	Set the structural damping.

double	GetLengthX () const
	Get the element length in the X direction.

double	GetLengthY ()
	Get the element length in the Y direction.

double	GetLengthZ ()
	Get the element length in the Z direction.

void	SetIntFrcCalcMethod (IntFrcMethod method)
	Set the calculation method to use for the generalized internal force and its Jacobian calculations. More...

IntFrcMethod	GetIntFrcCalcMethod ()
	Return the type of calculation method currently set for the generalized internal force and its Jacobian calculations.

ChMatrix33	GetGreenLagrangeStrain (const double xi, const double eta, const double zeta)
	Get the Green-Lagrange strain tensor at the normalized element coordinates (xi, eta, zeta) at the current state of the element. More...

ChMatrix33	GetPK2Stress (const double xi, const double eta, const double zeta)
	Get the 2nd Piola-Kirchoff stress tensor at the normalized element coordinates (xi, eta, zeta) at the current state of the element. More...

double	GetVonMissesStress (const double xi, const double eta, const double zeta)
	Get the von Mises stress value at the normalized element coordinates (xi, eta, zeta) at the current state of the element. More...

virtual void	GetStateBlock (ChVectorDynamic<> &mD) override
	Fill the D vector (column matrix) with the current field values at the nodes of the element, with proper ordering. More...

virtual void	Update () override
	Update the state of this element.

virtual void	ComputeMmatrixGlobal (ChMatrixRef M) override
	Set M equal to the global mass matrix.

virtual void	ComputeNodalMass () override
	Add contribution of element inertia to total nodal masses.

virtual void	ComputeInternalForces (ChVectorDynamic<> &Fi) override
	Compute the generalized internal force vector for the current nodal coordinates as set the value in the Fi vector.

virtual void	ComputeKRMmatricesGlobal (ChMatrixRef H, double Kfactor, double Rfactor=0, double Mfactor=0) override
	Set H as a linear combination of M, K, and R. More...

virtual void	ComputeGravityForces (ChVectorDynamic<> &Fg, const ChVector<> &G_acc) override
	Compute the generalized force vector due to gravity using the efficient ANCF specific method.

virtual void	EvaluateElementDisplacement (const double xi, const double eta, const double zeta, ChVector<> &u_displ, ChVector<> &u_rotaz)
	Gets the xyz displacement of a point in the element, and the approximate rotation RxRyRz at that point '(xi,eta,zeta)'.

virtual void	EvaluateElementFrame (const double xi, const double eta, const double zeta, ChVector<> &point, ChQuaternion<> &rot)
	Gets the absolute xyz position of a point in the element, and the approximate rotation RxRyRz at that point '(xi,eta,zeta)'. More...

virtual void	EvaluateElementPoint (const double xi, const double eta, const double zeta, ChVector<> &point)
	Gets the absolute xyz position of a point in the element specified in normalized coordinates.

virtual void	EvaluateElementVel (const double xi, const double eta, const double zeta, ChVector<> &Result)
	Gets the absolute xyz velocity of a point in the element specified in normalized coordinates.

virtual int	LoadableGet_ndof_x () override
	Gets the number of DOFs affected by this element (position part).

virtual int	LoadableGet_ndof_w () override
	Gets the number of DOFs affected by this element (velocity part).

virtual void	LoadableGetStateBlock_x (int block_offset, ChState &mD) override
	Gets all the DOFs packed in a single vector (position part).

virtual void	LoadableGetStateBlock_w (int block_offset, ChStateDelta &mD) override
	Gets all the DOFs packed in a single vector (velocity part).

virtual void	LoadableStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) override
	Increment all DOFs using a delta.

virtual int	Get_field_ncoords () override
	Number of coordinates in the interpolated field, ex=3 for a tetrahedron finite element or a cable, = 1 for a thermal problem, etc.

virtual int	GetSubBlocks () override
	Tell the number of DOFs blocks (ex. =1 for a body, =4 for a tetrahedron, etc.)

virtual unsigned int	GetSubBlockOffset (int nblock) override
	Get the offset of the i-th sub-block of DOFs in global vector.

virtual unsigned int	GetSubBlockSize (int nblock) override
	Get the size of the i-th sub-block of DOFs in global vector.

virtual bool	IsSubBlockActive (int nblock) const override
	Check if the specified sub-block of DOFs is active.

virtual void	LoadableGetVariables (std::vector< ChVariables * > &mvars) override
	Get the pointers to the contained ChVariables, appending to the mvars vector.

virtual void	ComputeNF (const double xi, const double eta, const double zeta, ChVectorDynamic<> &Qi, double &detJ, const ChVectorDynamic<> &F, ChVectorDynamic<> state_x, ChVectorDynamic<> state_w) override
	Evaluate N'F , where N is some type of shape function evaluated at xi,eta,zeta coordinates of the volume, each ranging in -1..+1 F is a load, N'F is the resulting generalized load Returns also det[J] with J=[dx/du,..], that might be useful in gauss quadrature. More...

virtual double	GetDensity () override
	This is needed so that it can be accessed by ChLoaderVolumeGravity. More...

Public Member Functions inherited from chrono::fea::ChElementGeneric
ChKblockGeneric &	Kstiffness ()
	Access the proxy to stiffness, for sparse solver.

virtual void	EleIntLoadResidual_F (ChVectorDynamic<> &R, const double c) override
	(This is a default (a bit unoptimal) book keeping so that in children classes you can avoid implementing this EleIntLoadResidual_F function, unless you need faster code)

virtual void	EleIntLoadResidual_Mv (ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) override
	(This is a default (VERY UNOPTIMAL) book keeping so that in children classes you can avoid implementing this EleIntLoadResidual_Mv function, unless you need faster code.)

virtual void	EleIntLoadResidual_F_gravity (ChVectorDynamic<> &R, const ChVector<> &G_acc, const double c) override
	(This is a default (VERY UNOPTIMAL) book keeping so that in children classes you can avoid implementing this EleIntLoadResidual_F_gravity function, unless you need faster code. More...

virtual void	InjectKRMmatrices (ChSystemDescriptor &mdescriptor) override
	Tell to a system descriptor that there are item(s) of type ChKblock in this object (for further passing it to a solver)

virtual void	KRMmatricesLoad (double Kfactor, double Rfactor, double Mfactor) override
	Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any. More...

virtual void	VariablesFbLoadInternalForces (double factor=1.) override
	Adds the internal forces, expressed as nodal forces, into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor (This is a default (a bit unoptimal) book keeping so that in children classes you can avoid implementing this VariablesFbLoadInternalForces function, unless you need faster code)

virtual void	VariablesFbIncrementMq () override
	Adds M*q (internal masses multiplied current 'qb') to Fb, ex. More...

Public Member Functions inherited from chrono::fea::ChElementBase
virtual void	EleDoIntegration ()
	This is optionally implemented if there is some internal state that requires integration.

Public Member Functions inherited from chrono::ChLoadableUVW
virtual bool	IsTetrahedronIntegrationNeeded ()
	If true, use quadrature over u,v,w in [0..1] range as tetrahedron volumetric coords (with z=1-u-v-w) otherwise use default quadrature over u,v,w in [-1..+1] as box isoparametric coords.

virtual bool	IsTrianglePrismIntegrationNeeded ()
	If true, use quadrature over u,v in [0..1] range as triangle natural coords (with z=1-u-v), and use linear quadrature over w in [-1..+1], otherwise use default quadrature over u,v,w in [-1..+1] as box isoparametric coords.

Static Public Attributes
static const int	NP = 4
	number of Gauss quadrature along beam axis

static const int	NIP = NP * NP * NP
	number of Gauss quadrature points

static const int	NSF = 32
	number of shape functions

Additional Inherited Members
Protected Attributes inherited from chrono::fea::ChElementGeneric
ChKblockGeneric	Kmatr

Member Enumeration Documentation

◆ IntFrcMethod

enum chrono::fea::ChElementHexaANCF_3843::IntFrcMethod

strong

Internal force calculation method.

Enumerator
ContInt	"Continuous Integration" style method - Typically the Fastest for this element
PreInt	"Pre-Integration" style method

Member Function Documentation

◆ ComputeKRMmatricesGlobal()

void chrono::fea::ChElementHexaANCF_3843::ComputeKRMmatricesGlobal	(	ChMatrixRef	H,
		double	Kfactor,
		double	Rfactor = `0`,
		double	Mfactor = `0`
	)

overridevirtual

Set H as a linear combination of M, K, and R.

H = Mfactor * [M] + Kfactor * [K] + Rfactor * [R], where [M] is the mass matrix, [K] is the stiffness matrix, and [R] is the damping matrix.

Implements chrono::fea::ChElementBase.

◆ ComputeNF()

void chrono::fea::ChElementHexaANCF_3843::ComputeNF	(	const double	xi,
		const double	eta,
		const double	zeta,
		ChVectorDynamic<> &	Qi,
		double &	detJ,
		const ChVectorDynamic<> &	F,
		ChVectorDynamic<> *	state_x,
		ChVectorDynamic<> *	state_w
	)

overridevirtual

Evaluate N'*F , where N is some type of shape function evaluated at xi,eta,zeta coordinates of the volume, each ranging in -1..+1 F is a load, N'*F is the resulting generalized load Returns also det[J] with J=[dx/du,..], that might be useful in gauss quadrature.

For this ANCF element, only the first 6 entries in F are used in the calculation. The first three entries is the applied force in global coordinates and the second 3 entries is the applied moment in global space.

Parameters

xi	parametric coordinate in volume
eta	parametric coordinate in volume
zeta	parametric coordinate in volume
Qi	Return result of N'*F here, maybe with offset block_offset
detJ	Return det[J] here
F	Input F vector, size is = n.field coords.
state_x	if != 0, update state (pos. part) to this, then evaluate Q
state_w	if != 0, update state (speed part) to this, then evaluate Q

Implements chrono::ChLoadableUVW.

◆ EvaluateElementFrame()

void chrono::fea::ChElementHexaANCF_3843::EvaluateElementFrame	(	const double	xi,
		const double	eta,
		const double	zeta,
		ChVector<> &	point,
		ChQuaternion<> &	rot
	)

virtual

Gets the absolute xyz position of a point in the element, and the approximate rotation RxRyRz at that point '(xi,eta,zeta)'.

Note, nodeA = (xi=-1, eta=-1, zeta=-1) Note, nodeB = (xi=1, eta=-1, zeta=-1) Note, nodeC = (xi=1, eta=1, zeta=-1) Note, nodeD = (xi=-1, eta=1, zeta=-1) Note, nodeE = (xi=-1, eta=-1, zeta=1) Note, nodeF = (xi=1, eta=-1, zeta=1) Note, nodeG = (xi=1, eta=1, zeta=1) Note, nodeH = (xi=-1, eta=1, zeta=1)

◆ GetDensity()

double chrono::fea::ChElementHexaANCF_3843::GetDensity ( )

overridevirtual

This is needed so that it can be accessed by ChLoaderVolumeGravity.

Density is the average mass per unit volume in the reference state of the element.

Implements chrono::ChLoadableUVW.

◆ GetGreenLagrangeStrain()

ChMatrix33 chrono::fea::ChElementHexaANCF_3843::GetGreenLagrangeStrain	(	const double	xi,
		const double	eta,
		const double	zeta
	)

Get the Green-Lagrange strain tensor at the normalized element coordinates (xi, eta, zeta) at the current state of the element.

Normalized element coordinates span from -1 to 1.

◆ GetPK2Stress()

ChMatrix33 chrono::fea::ChElementHexaANCF_3843::GetPK2Stress	(	const double	xi,
		const double	eta,
		const double	zeta
	)

Get the 2nd Piola-Kirchoff stress tensor at the normalized element coordinates (xi, eta, zeta) at the current state of the element.

Normalized element coordinates span from -1 to 1.

◆ GetStateBlock()

void chrono::fea::ChElementHexaANCF_3843::GetStateBlock ( ChVectorDynamic<> & mD )

overridevirtual

Fill the D vector (column matrix) with the current field values at the nodes of the element, with proper ordering.

If the D vector has not the size of this->GetNdofs(), it will be resized. {Pos_a Du_a Dv_a Dw_a Pos_b Du_b Dv_b Dw_b Pos_c Du_c Dv_c Dw_c Pos_d Du_d Dv_d Dw_d}

Implements chrono::fea::ChElementBase.

◆ GetVonMissesStress()

double chrono::fea::ChElementHexaANCF_3843::GetVonMissesStress	(	const double	xi,
		const double	eta,
		const double	zeta
	)

Get the von Mises stress value at the normalized element coordinates (xi, eta, zeta) at the current state of the element.

Normalized element coordinates span from -1 to 1.

◆ SetIntFrcCalcMethod()

void chrono::fea::ChElementHexaANCF_3843::SetIntFrcCalcMethod ( IntFrcMethod method )

Set the calculation method to use for the generalized internal force and its Jacobian calculations.

This should be set prior to the start of the simulation since can be a significant amount of pre-calculation overhead required.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono/fea/ChElementHexaANCF_3843.h
/builds/uwsbel/chrono/src/chrono/fea/ChElementHexaANCF_3843.cpp

Description

Public Types

Public Member Functions

Static Public Attributes

Additional Inherited Members

Member Enumeration Documentation

◆ IntFrcMethod

Member Function Documentation

◆ ComputeKRMmatricesGlobal()

◆ ComputeNF()

◆ EvaluateElementFrame()

◆ GetDensity()

◆ GetGreenLagrangeStrain()

◆ GetPK2Stress()

◆ GetStateBlock()

◆ GetVonMissesStress()

◆ SetIntFrcCalcMethod()