rocky_joint_api.hpp | Ansys Developer Portal

// (C) 2024 ANSYS, Inc. Unauthorized use, distribution, or duplication is prohibited.
#pragma once
 
// Includes =======================================================================================
#include <rocky20/api/rocky_particle_api.hpp>
#include <rocky20/device/device_joint_api.hpp>
 
#include "rocky_joint_scalars.hpp"
 
// ================================================================================================
// IRockyJoint
// ================================================================================================
 
struct IRockyJoint
{
 
    // -----------------------------------------------------------------------
    // Forces and moments according to the default linear elastic model
    // -----------------------------------------------------------------------
 
    inline ROCKY_FUNCTIONS
    double3 get_elastic_force() const
    {
        return this->_impl.get_elastic_force();
    }
 
 
    inline ROCKY_FUNCTIONS
    thrust::tuple<double3, double3> get_moments_due_to_force(double3 force) const
    {
        return this->_impl.get_moments_due_to_force(force);
    }
 
 
    inline ROCKY_FUNCTIONS
    double3 get_elastic_moment() const
    {
        return this->_impl.get_elastic_moment();
    }
 
 
    inline ROCKY_FUNCTIONS
    double3 get_damping_force() const
    {
        return this->_impl.get_damping_force();
    }
 
 
    inline ROCKY_FUNCTIONS
    double3 get_damping_moment() const
    {
        return this->_impl.get_damping_moment();
    }
 
    // ------------------------------------------------------
    // Deformations and deformation velocities
    // ------------------------------------------------------
 
    inline ROCKY_FUNCTIONS
    double3 get_normal_deformation() const
    {
        return this->_impl.state.normal_deformation;
    }
 
 
    inline ROCKY_FUNCTIONS
    double3 get_tangential_deformation() const
    {
        return this->_impl.state.tangential_deformation;
    }
 
 
    inline ROCKY_FUNCTIONS
    double3 get_normal_deformation_velocity() const
    {
        return this->_impl.state.normal_deformation_velocity;
    }
 
 
    inline ROCKY_FUNCTIONS
    double3 get_tangential_deformation_velocity() const
    {
        return this->_impl.state.tangential_deformation_velocity;
    }
 
 
    inline ROCKY_FUNCTIONS
    int get_number_angular_deformations() const
    {
        return this->_impl.state.get_n_angular_deformations();
    }
 
 
    inline ROCKY_FUNCTIONS
    double get_angular_deformation(int deformation_direction) const
    {
        return this->_impl.state.angular_deformation[deformation_direction];
    }
 
 
    inline ROCKY_FUNCTIONS
    double get_angular_deformation_velocity(int deformation_direction) const
    {
        return this->_impl.state.angular_deformation_velocity[deformation_direction];
    }
 
 
    inline ROCKY_FUNCTIONS
    double3 get_angular_deformation_direction(int deformation_direction) const
    {
        return this->_impl.state.local_basis[deformation_direction];
    }
 
 
    // ------------------------------------------------------
    // Stiffnesses and damping coefficients
    // ------------------------------------------------------
 
    inline ROCKY_FUNCTIONS
    double get_normal_stiffness() const 
    { 
        return this->_impl.state.particle_group->joint_elastic_ratio.normal * this->_impl.state.normal_stiffness;
    }
 
 
    inline ROCKY_FUNCTIONS
    double get_tangential_stiffness() const 
    { 
        return this->_impl.state.particle_group->joint_elastic_ratio.tangential * this->_impl.state.tangential_stiffness;
    }
 
 
    inline ROCKY_FUNCTIONS
    double get_angular_stiffness(int deformation_direction) const
    {
        cu_real geometric_factor = this->get_area_moment_of_inertia(deformation_direction) / this->get_area();
        return (deformation_direction == 0) ?
            this->_impl.state.particle_group->joint_elastic_ratio.torsion * this->_impl.state.tangential_stiffness * geometric_factor :
            this->_impl.state.particle_group->joint_elastic_ratio.bending * this->_impl.state.normal_stiffness * geometric_factor;
    }
 
 
    inline ROCKY_FUNCTIONS
    double get_normal_damping_coefficient() const 
    { 
        return this->_impl.state.particle_group->sqrt_joint_elastic_ratio.normal * this->_impl.state.normal_damping; 
    }
 
 
    inline ROCKY_FUNCTIONS
    double get_tangential_damping_coefficient() const 
    { 
        return this->_impl.state.particle_group->sqrt_joint_elastic_ratio.tangential * this->_impl.state.tangential_damping;
    }
 
 
    inline ROCKY_FUNCTIONS
    double get_angular_damping_coefficient(int deformation_direction) const
    {
        cu_real geometric_factor = this->get_area_moment_of_inertia(deformation_direction) / this->get_area();
        return (deformation_direction == 0) ?
            this->_impl.state.particle_group->sqrt_joint_elastic_ratio.torsion * this->_impl.state.tangential_damping * geometric_factor :
            this->_impl.state.particle_group->sqrt_joint_elastic_ratio.bending * this->_impl.state.normal_damping * geometric_factor;
    }
    
    //---------------------------------------------------------------
    // Low-level parameters
    //---------------------------------------------------------------
 
    inline ROCKY_FUNCTIONS
    double3 get_normal_vector() const { return this->_impl.state.normal_vector;  }
 
 
    inline ROCKY_FUNCTIONS
    double get_area() const { return this->_impl.state.area; }
 
 
    inline ROCKY_FUNCTIONS
    double get_area_moment_of_inertia(int deformation_direction) const
    {
        return this->_impl.state.area_moment[deformation_direction];
    }
 
 
    inline ROCKY_FUNCTIONS
    double get_young_modulus() const { 
        int material_index = this->_impl.state.particle_group->get_material_index();
        return this->_impl.model->get_material(material_index).kn_load;
    }
 
 
    inline ROCKY_FUNCTIONS double get_poisson_ratio() const
    {
        const SDeviceModel* model = this->_impl.model;
        if (model->particle_scalars->is_poisson_ratio_enabled())
        {
            const cuda_particle_joint& particle_joint = model->jnt_prt[this->_impl.joint_index];
            const int home_index = particle_joint.nh;
            const int near_index = particle_joint.nn;
            return 0.5
                * (this->_impl.model->particle_scalars->get_poisson_ratio(home_index)
                   + this->_impl.model->particle_scalars->get_poisson_ratio(near_index));
        }
        else
        {
            int material_index = this->_impl.state.particle_group->get_material_index();
            return model->get_material(material_index).poisson_ratio;
        }
    }
 
 
    inline ROCKY_FUNCTIONS
    double get_normal_elastic_ratio() const 
    { 
        return this->_impl.state.particle_group->joint_elastic_ratio.normal; 
    }
 
 
    inline ROCKY_FUNCTIONS
    double get_tangential_elastic_ratio() const 
    { 
        return this->_impl.state.particle_group->joint_elastic_ratio.tangential; 
    }
 
 
    inline ROCKY_FUNCTIONS
    double get_torsion_elastic_ratio() const 
    { 
        return this->_impl.state.particle_group->joint_elastic_ratio.torsion; 
    }
 
 
    inline ROCKY_FUNCTIONS
    double get_bending_elastic_ratio() const 
    { 
        return this->_impl.state.particle_group->joint_elastic_ratio.bending; 
    }
 
 
    inline ROCKY_FUNCTIONS
    double get_joint_damping_ratio() const
    {
        return this->_impl.state.particle_group->joint_damping_ratio;
    }
 
 
    inline ROCKY_FUNCTIONS
    double get_angle_scaling_factor() const { return this->_impl.get_angle_scaling_factor();  }
 
 
    inline ROCKY_FUNCTIONS
    double get_equivalent_mass() const
    {
        return this->_impl.state.equivalent_mass;
    }
 
 
    inline ROCKY_FUNCTIONS
    double get_normal_stiffness_per_area() const
    {
        return this->_impl.state.particle_group->kn_dgb;
    }
 
 
    inline ROCKY_FUNCTIONS
    double get_tangential_stiffness_per_area() const
    {
        return this->_impl.state.particle_group->kt_dgb;
    }
 
 
    inline ROCKY_FUNCTIONS
    double get_young_modulus_multiplier() const { return this->_impl.state.stiffness_multiplier; }
 
    // ---------------------------------------------------------------------
    // Access to joint scalars
    // ---------------------------------------------------------------------
 
    inline ROCKY_FUNCTIONS
    IRockyJointScalars get_scalars()
    {
        return IRockyJointScalars(*this->_impl.model->joint_scalars, this->_impl.joint_index);
    }
 
    // ---------------------------------------------------------------------
    // home and near elements data
    // ---------------------------------------------------------------------
 
    ROCKY_FUNCTIONS thrust::tuple<double3, double> get_home_element_orientation() const
    {
        return this->_impl.get_home_element_orientation();
    }
 
    ROCKY_FUNCTIONS thrust::tuple<double3, double> get_near_element_orientation() const
    {
        return this->_impl.get_near_element_orientation();
    }
 
    ROCKY_FUNCTIONS double3 get_home_element_centroid_position() const
    {
        return this->_impl.get_home_element_centroid_position();
    }
 
    ROCKY_FUNCTIONS double3 get_near_element_centroid_position() const
    {
        return this->_impl.get_near_element_centroid_position();
    }
 
    ROCKY_FUNCTIONS double3 get_home_arm() const
    {
        return this->_impl.get_home_arm();
    }
 
    ROCKY_FUNCTIONS double3 get_near_arm() const
    {
        return this->_impl.get_near_arm();
    }
 
    ROCKY_FUNCTIONS thrust::tuple<int, int> get_element_tags() const
    {
        return this->_impl.get_element_tags();
    }
 
 
    ROCKY_FUNCTIONS IRockyJoint(SDeviceModel *_model, int _device_index) :
        _impl(_model, _device_index) {}
 
    device::RockyJoint _impl;
 
};
 
// =================================================================================================
// IRockyJointOutputData
// =================================================================================================
 
struct IRockyJointOutputData
{
    
    ROCKY_FUNCTIONS void set_force(const double3& value);
 
 
    ROCKY_FUNCTIONS void set_home_moment(const double3& value);
 
 
    ROCKY_FUNCTIONS void set_near_moment(const double3& value);
 
 
    double3 _force{}, _home_moment{}, _near_moment{};
 
};
 
inline ROCKY_FUNCTIONS void IRockyJointOutputData::set_force(const double3& value)
{
    this->_force = value;
}
 
inline ROCKY_FUNCTIONS void IRockyJointOutputData::set_home_moment(const double3& value)
{
    this->_home_moment = value;
}
 
inline ROCKY_FUNCTIONS void IRockyJointOutputData::set_near_moment(const double3& value)
{
    this->_near_moment = value;
}
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