ChVariablesBodyAddedMass.h

Go to the documentation of this file.

// =============================================================================
// PROJECT CHRONO - http://projectchrono.org
//
// Copyright (c) 2014 projectchrono.org
// All rights reserved.
//
// Use of this source code is governed by a BSD-style license that can be found
// in the LICENSE file at the top level of the distribution and at
// http://projectchrono.org/license-chrono.txt.
//
// =============================================================================
// Authors: Tristan de Lataillade, Chris Kees
// =============================================================================
 
#ifndef CHVARIABLESBODYADDEDMASS_H
#define CHVARIABLESBODYADDEDMASS_H
 
#include "chrono/solver/ChVariablesBodyOwnMass.h"
 
namespace chrono {

 
  class ChApi ChVariablesBodyAddedMass : public ChVariablesBodyOwnMass {
 
  private:
    int ndof;
    ChMatrixDynamic<> Mmass;
    ChMatrixDynamic<> Maddedmass;
    ChMatrixDynamic<> Mfullmass;
    ChMatrixDynamic<> inv_Mfullmass;
 
  public:
    ChVariablesBodyAddedMass();
    virtual ~ChVariablesBodyAddedMass() {}

    ChVariablesBodyAddedMass& operator=(const ChVariablesBodyAddedMass& other);
 
    /* /// Access the inertia matrix */
    /* ChMatrix<>& GetMaddedmass() { return Maddedmass; } */
 
    /* /// Access the inertia matrix */
    /* ChMatrix<>& GetMmass() { return Mmass; } */

    void SetMfullmass(ChMatrixDynamic<>& Mfullmass_in);

    ChMatrixDynamic<>& GetMfullmass() { return Mfullmass; }

    ChMatrixDynamic<>& GetInvMfullmass() { return inv_Mfullmass; }
 
    /* /// Set the inertia matrix */
    /* void SetBodyInertia(const ChMatrix33<>& minertia); */
 
    /* /// Set the mass associated with translation of body */
    /* void SetBodyMass(const double mmass); */
 
    /* /// Get the mass associated with translation of body */
    /* virtual double GetBodyMass() const override { return ChVariablesBodyOwnMass::mmass; } */
 
    /* /// Access the 3x3 inertia matrix */
    /* virtual ChMatrix33<>& GetBodyInertia() override { return ChVariablesBodyOwnInertia::inertia; } */
 
    /* /// Set the mass associated with translation of body */
    /* void SetBodyAddedMass(ChMatrixDynamic<>& Maddedmass_in); */
    
    //virtual void Compute_invMb_v(ChVectorRef result, const ChVectorConstRef vect) const override;
    virtual void ComputeMassInverseTimesVector(ChVectorRef result, ChVectorConstRef vect) const override;

    virtual void Compute_inc_invMb_v(ChVectorRef result, ChVectorConstRef vect) const;

    //virtual void Compute_inc_Mb_v(ChVectorRef result, const ChVectorConstRef vect) const override;
    virtual void AddMassTimesVector(ChVectorRef results, ChVectorConstRef vect) const override;

    //virtual void MultiplyAndAdd(ChVectorRef result,
    //  const ChVectorConstRef vect,
    //  const double c_a) const override;
    virtual void AddMassTimesVectorInto(ChVectorRef result, ChVectorConstRef vect, const double ca) const override;

    //virtual void DiagonalAdd(ChVectorRef result, const double c_a) const override;
    virtual void AddMassDiagonalInto(ChVectorRef result, const double c_a) const override;

    //virtual void Build_M(ChSparseMatrix& storage, int insrow, int inscol, const double c_a) override;
    virtual void PasteMassInto(ChSparseMatrix& mat, unsigned int insrow, unsigned int inscol, const double c_a) const override;
 
  };
 
 
}  // end namespace chrono
 
#endif