def Solve_F90(XBINPUT,XBOPTS):
"""@brief Nonlinear static structural solver using f90 solve routine."""
"Check correct solution code"
assert XBOPTS.Solution.value == 112, ('NonlinearStatic (F90) requested' +\
' with wrong solution code')
"Initialise beam"
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS)
"Set initial conditions as undef config"
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Solve nonlinear static case (using .f90 routines) ... \n')
BeamLib.Cbeam3_Solv_NonlinearStatic(XBINPUT, XBOPTS, NumNodes_tot, XBELEM,\
PosIni, PsiIni, XBNODE, NumDof,\
PosDefor, PsiDefor)
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' ... done\n')
"Write deformed configuration to file"
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL112_def.dat'
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Writing file %s ... ' %(ofile))
fp = open(ofile,'w')
fp.write('TITLE="Non-linear static solution: deformed geometry"\n')
fp.write('VARIABLES="iElem" "iNode" "Px" "Py" "Pz" "Rx" "Ry" "Rz"\n')
fp.close()
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('done\n')
WriteMode = 'a'
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, \
PosDefor, PsiDefor, ofile, WriteMode)
"Print deformed configuration"
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('--------------------------------------\n')
sys.stdout.write('NONLINEAR STATIC SOLUTION\n')
sys.stdout.write('%10s %10s %10s\n' %('X','Y','Z'))
for inodi in range(NumNodes_tot.value):
sys.stdout.write(' ')
for inodj in range(3):
sys.stdout.write('%12.5e' %(PosDefor[inodi,inodj]))
sys.stdout.write('\n')
sys.stdout.write('--------------------------------------\n')
"Return solution as optional output argument"
return PosDefor, PsiDefor
def Solve_F90(XBINPUT, XBOPTS):
"""@brief Nonlinear dynamic structural solver using f90 solve routine."""
"Check correct solution code"
assert XBOPTS.Solution.value == 312, ('NonlinearDynamic (F90) requested' +\
' with wrong solution code')
"Initialise variables for static analysis"
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT, XBOPTS)
"Change solution code to NonlinearStatic"
XBOPTS.Solution.value = 112
"Set initial conditions as undef config"
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
"Solve static"
BeamLib.Cbeam3_Solv_NonlinearStatic(XBINPUT, XBOPTS, NumNodes_tot, XBELEM,\
PosIni, PsiIni, XBNODE, NumDof,\
PosDefor, PsiDefor)
"Change solution code back to NonlinearDynamic"
XBOPTS.Solution.value = 312
"Write deformed configuration to file"
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_def.dat'
if XBOPTS.PrintInfo == True:
sys.stdout.write('Writing file %s ... ' % (ofile))
fp = open(ofile, 'w')
fp.write('TITLE="Non-linear static solution: deformed geometry"\n')
fp.write('VARIABLES="iElem" "iNode" "Px" "Py" "Pz" "Rx" "Ry" "Rz"\n')
fp.close()
if XBOPTS.PrintInfo == True:
sys.stdout.write('done\n')
WriteMode = 'a'
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, \
PosDefor, PsiDefor, ofile, WriteMode)
"Change solution code to NonlinearDynamic"
XBOPTS.Solution.value = 312
"Initialise variables for dynamic analysis"
Time, NumSteps, ForceTime, ForcedVel, ForcedVelDot,\
PosDotDef, PsiDotDef,\
OutGrids, PosPsiTime, VelocTime, DynOut\
= BeamInit.Dynamic(XBINPUT,XBOPTS)
"Write _force file"
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_force.dat'
fp = open(ofile, 'w')
BeamIO.Write_force_File(fp, Time, ForceTime, ForcedVel, ForcedVelDot)
fp.close()
"Write _vel file"
#TODO: write _vel file
"Write .mrb file"
#TODO: write .mrb file
"Solve dynamic using f90 solver"
BeamLib.Cbeam3_Solv_NonlinearDynamic(XBINPUT, XBOPTS, NumNodes_tot, XBELEM,\
PosIni, PsiIni, XBNODE, NumDof,\
PosDefor, PsiDefor,\
NumSteps, Time, ForceTime, ForcedVel, ForcedVelDot,\
PosDotDef, PsiDotDef,\
PosPsiTime, VelocTime, DynOut, OutGrids)
"Write _dyn file"
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_dyn.dat'
fp = open(ofile, 'w')
BeamIO.Write_dyn_File(fp, Time, PosPsiTime)
fp.close()
"Write _shape file"
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_shape.dat'
fp = open(ofile, 'w')
BeamIO.Write_shape_File(fp, len(Time), NumNodes_tot.value, Time, DynOut)
fp.close()
def Solve_F90_steps(XBINPUT, XBOPTS):
"""@brief Nonlinear dynamic structural solver with time-steps controlled
in Python but solved using F90 routines at each time-step."""
"Check correct solution code"
assert XBOPTS.Solution.value == 312, ('NonlinearDynamic (F90) requested' +\
' with wrong solution code')
"Initialise variables for static analysis"
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT, XBOPTS)
"Change solution code to NonlinearStatic"
XBOPTS.Solution.value = 112
"Set initial conditions as undef config"
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
"Solve static"
BeamLib.Cbeam3_Solv_NonlinearStatic(XBINPUT, XBOPTS, NumNodes_tot, XBELEM,\
PosIni, PsiIni, XBNODE, NumDof,\
PosDefor, PsiDefor)
"Write deformed configuration to file"
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_def.dat'
if XBOPTS.PrintInfo == True:
sys.stdout.write('Writing file %s ... ' % (ofile))
fp = open(ofile, 'w')
fp.write('TITLE="Non-linear static solution: deformed geometry"\n')
fp.write('VARIABLES="iElem" "iNode" "Px" "Py" "Pz" "Rx" "Ry" "Rz"\n')
fp.close()
if XBOPTS.PrintInfo == True:
sys.stdout.write('done\n')
WriteMode = 'a'
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, \
PosDefor, PsiDefor, ofile, WriteMode)
"Change solution code to NonlinearDynamic"
XBOPTS.Solution.value = 312
"Initialise variables for dynamic analysis"
Time, NumSteps, ForceTime, ForcedVel, ForcedVelDot,\
PosDotDef, PsiDotDef,\
OutGrids, PosPsiTime, VelocTime, DynOut\
= BeamInit.Dynamic(XBINPUT,XBOPTS)
"Write _force file"
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_force.dat'
fp = open(ofile, 'w')
BeamIO.Write_force_File(fp, Time, ForceTime, ForcedVel, ForcedVelDot)
fp.close()
"Write _vel file"
#TODO: write _vel file
"Write .mrb file"
#TODO: write .mrb file
"Save time-dependant variables with only one time step (2 time-steps)"
TimeElements = Time[0:2].copy('F')
Ftime = ForceTime[0:2].copy('F')
Fvel = ForcedVel[0:2, :].copy('F')
FvelDot = ForcedVelDot[0:2, :].copy('F')
"Create Output vectors, one for each time-step"
PosPsiTimeStep = PosPsiTime[0:2, :].copy('F')
VelocTimeStep = VelocTime[0:2, :].copy('F')
DynOutStep = DynOut[0:2 * NumNodes_tot.value, :].copy('F')
"Initialise and approximate initial accelerations as zero arrays"
PosDotDotDef = np.zeros((NumNodes_tot.value, 3), ct.c_double, 'F')
PsiDotDotDef = np.zeros((XBINPUT.NumElems,Settings.MaxElNod,3),\
ct.c_double, 'F')
"Start Time-loop"
for TimeStep in range(0, NumSteps.value):
"Update 2-step time arrays"
TimeElements = Time[TimeStep:TimeStep + 2]
Ftime = ForceTime[TimeStep:TimeStep + 2]
Fvel[:, :] = ForcedVel[TimeStep:TimeStep + 2, :]
FvelDot[:, :] = ForcedVelDot[TimeStep:TimeStep + 2, :]
"Solve dynamic step using f90 solver"
BeamLib.Cbeam3_Solv_NonlinearDynamicAccel(XBINPUT, XBOPTS, NumNodes_tot,\
XBELEM,PosIni, PsiIni, XBNODE, NumDof,\
PosDefor, PsiDefor,\
ct.c_int(1), TimeElements, Ftime, Fvel, FvelDot,\
PosDotDef, PsiDotDef,\
PosDotDotDef, PsiDotDotDef,\
PosPsiTimeStep, VelocTimeStep, DynOutStep, OutGrids)
"Append output information"
PosPsiTime[TimeStep + 1, :] = PosPsiTimeStep[1, :]
VelocTime[TimeStep + 1, :] = VelocTimeStep[1, :]
DynOut[(TimeStep)*NumNodes_tot.value:(TimeStep+1)*NumNodes_tot.value-1,\
: ] = DynOutStep[NumNodes_tot.value:2*NumNodes_tot.value-1]
"END Time-loop"
"Write _dyn file"
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_dyn.dat'
fp = open(ofile, 'w')
BeamIO.Write_dyn_File(fp, Time, PosPsiTime)
fp.close()
"Write _shape file"
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_shape.dat'
fp = open(ofile, 'w')
BeamIO.Write_shape_File(fp, len(Time), NumNodes_tot.value, Time, DynOut)
fp.close()
def Solve_F90(XBINPUT, XBOPTS):
"""@brief Nonlinear dynamic structural solver using f90 solve routine."""
#Check correct solution code
assert XBOPTS.Solution.value == 912, ('NonlinearDynamic (F90) requested' +\
' with wrong solution code')
#Initialise variables for static analysis
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT, XBOPTS)
#Change solution code to NonlinearStatic
XBOPTS.Solution.value = 112
#Set initial conditions as undef config
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
#Solve static
BeamLib.Cbeam3_Solv_NonlinearStatic(XBINPUT, XBOPTS, NumNodes_tot, XBELEM,\
PosIni, PsiIni, XBNODE, NumDof,\
PosDefor, PsiDefor)
#Change solution code back to NonlinearDynamic
XBOPTS.Solution.value = 912
#Write deformed configuration to file
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_def.dat'
if XBOPTS.PrintInfo == True:
sys.stdout.write('Writing file %s ... ' % (ofile))
fp = open(ofile, 'w')
fp.write('TITLE="Non-linear static solution: deformed geometry"\n')
fp.write('VARIABLES="iElem" "iNode" "Px" "Py" "Pz" "Rx" "Ry" "Rz"\n')
fp.close()
if XBOPTS.PrintInfo == True:
sys.stdout.write('done\n')
WriteMode = 'a'
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, \
PosDefor, PsiDefor, ofile, WriteMode)
#Initialise variables for dynamic analysis
Time, NumSteps, ForceTime, ForcedVel, ForcedVelDot,\
PosDotDef, PsiDotDef,\
OutGrids, PosPsiTime, VelocTime, DynOut\
= BeamInit.Dynamic(XBINPUT,XBOPTS, NumNodes_tot)
# Delete unused variables.
del PosPsiTime, VelocTime
#Initialise quaternions for rigid-body dynamics
Quat = np.zeros(4, ct.c_double, 'F')
Quat[0] = 1.0
#Write _force file
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_force.dat'
fp = open(ofile, 'w')
BeamIO.Write_force_File(fp, Time, ForceTime, ForcedVel, ForcedVelDot)
fp.close()
#Solve dynamic using f90 solver
BeamLib.Xbeam_Solv_FreeNonlinDynamic(XBINPUT, XBOPTS, NumNodes_tot, XBELEM,\
PosIni, PsiIni, XBNODE, NumDof,\
PosDefor, PsiDefor, Quat,\
NumSteps, Time, ForceTime, ForcedVel, ForcedVelDot,\
PosDotDef, PsiDotDef, DynOut, OutGrids)
#Write _shape file
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_shape.dat'
fp = open(ofile, 'w')
BeamIO.Write_shape_File(fp, len(Time), NumNodes_tot.value, Time, DynOut)
fp.close()
#Write rigid-body velocities
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_rigid.dat'
fp = open(ofile, 'w')
BeamIO.Write_rigid_File(fp, Time, ForcedVel, ForcedVelDot)
fp.close()
def Solve_F90_steps(XBINPUT,XBOPTS):
"""@brief Nonlinear static structural solver using f90 solve routine called
once per load-step."""
"Check correct solution code"
assert XBOPTS.Solution.value == 112, ('NonlinearStatic (F90) requested' +\
' with wrong solution code')
"Initialise beam"
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS)
"Set initial conditions as undef config"
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Solve nonlinear static case (using .f90 routine at' +\
' each load-step) ... \n')
"Initialise load increments and set F90 load-step to 1"
LoadSteps = XBOPTS.NumLoadSteps.value
LoadIncrement = XBINPUT.ForceStatic/LoadSteps
XBOPTS.NumLoadSteps.value = 1
"Start loading loop"
for step in range(1,LoadSteps+1):
"Current load to be applied"
XBINPUT.ForceStatic = step*LoadIncrement
"Print load step"
if XBOPTS.PrintInfo.value == True:
print(' Python-based outer load step %d' %(step))
"Solve with one load step"
BeamLib.Cbeam3_Solv_NonlinearStatic(XBINPUT, XBOPTS, NumNodes_tot, XBELEM,\
PosIni, PsiIni, XBNODE, NumDof,\
PosDefor, PsiDefor)
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' ... done\n')
"Write deformed configuration to file"
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL112_def.dat'
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Writing file %s ... ' %(ofile))
fp = open(ofile,'w')
fp.write('TITLE="Non-linear static solution: deformed geometry"\n')
fp.write('VARIABLES="iElem" "iNode" "Px" "Py" "Pz" "Rx" "Ry" "Rz"\n')
fp.close()
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('done\n')
WriteMode = 'a'
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, \
PosDefor, PsiDefor, ofile, WriteMode)
"Print deformed configuration"
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('--------------------------------------\n')
sys.stdout.write('NONLINEAR STATIC SOLUTION\n')
sys.stdout.write('%10s %10s %10s\n' %('X','Y','Z'))
for inodi in range(NumNodes_tot.value):
sys.stdout.write(' ')
for inodj in range(3):
sys.stdout.write('%12.5e' %(PosDefor[inodi,inodj]))
sys.stdout.write('\n')
sys.stdout.write('--------------------------------------\n')
"Return solution as optional output argument"
return PosDefor, PsiDefor
def Solve_Py(XBINPUT, XBOPTS):
"""Nonlinear dynamic structural solver in Python. Assembly of matrices
is carried out with Fortran subroutines."""
"Check correct solution code"
assert XBOPTS.Solution.value == 312, ('NonlinearDynamic requested' +\
' with wrong solution code')
"Initialise beam"
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS)
"Set initial conditions as undef config"
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
"Solve static"
BeamLib.Cbeam3_Solv_NonlinearStatic(XBINPUT, XBOPTS, NumNodes_tot, XBELEM,\
PosIni, PsiIni, XBNODE, NumDof,\
PosDefor, PsiDefor)
"Write deformed configuration to file"
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_def.dat'
if XBOPTS.PrintInfo == True:
sys.stdout.write('Writing file %s ... ' % (ofile))
fp = open(ofile, 'w')
fp.write('TITLE="Non-linear static solution: deformed geometry"\n')
fp.write('VARIABLES="iElem" "iNode" "Px" "Py" "Pz" "Rx" "Ry" "Rz"\n')
fp.close()
if XBOPTS.PrintInfo == True:
sys.stdout.write('done\n')
WriteMode = 'a'
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, \
PosDefor, PsiDefor, ofile, WriteMode)
"Initialise variables for dynamic analysis"
Time, NumSteps, ForceTime, ForcedVel, ForcedVelDot,\
PosDotDef, PsiDotDef,\
OutGrids, PosPsiTime, VelocTime, DynOut\
= BeamInit.Dynamic(XBINPUT,XBOPTS)
"Write _force file"
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_force.dat'
fp = open(ofile, 'w')
BeamIO.Write_force_File(fp, Time, ForceTime, ForcedVel, ForcedVelDot)
fp.close()
"Write _vel file"
#TODO: write _vel file
"Write .mrb file"
#TODO: write .mrb file
if XBOPTS.PrintInfo.value == True:
sys.stdout.write('Solve nonlinear dynamic case in Python ... \n')
"Initialise structural system tensors"
MglobalFull = np.zeros((NumDof.value, NumDof.value), ct.c_double, 'F')
CglobalFull = np.zeros((NumDof.value, NumDof.value), ct.c_double, 'F')
KglobalFull = np.zeros((NumDof.value, NumDof.value), ct.c_double, 'F')
FglobalFull = np.zeros((NumDof.value, NumDof.value), ct.c_double, 'F')
Asys = np.zeros((NumDof.value, NumDof.value), ct.c_double, 'F')
ms = ct.c_int()
cs = ct.c_int()
ks = ct.c_int()
fs = ct.c_int()
Mvel = np.zeros((NumDof.value, 6), ct.c_double, 'F')
Cvel = np.zeros((NumDof.value, 6), ct.c_double, 'F')
X0 = np.zeros(NumDof.value, ct.c_double, 'F')
X = np.zeros(NumDof.value, ct.c_double, 'F')
DX = np.zeros(NumDof.value, ct.c_double, 'F')
dXdt = np.zeros(NumDof.value, ct.c_double, 'F')
dXddt = np.zeros(NumDof.value, ct.c_double, 'F')
Force_Dof = np.zeros(NumDof.value, ct.c_double, 'F')
Qglobal = np.zeros(NumDof.value, ct.c_double, 'F')
"Initialise rotation operators"
Unit = np.zeros((3, 3), ct.c_double, 'F')
for i in range(3):
Unit[i, i] = 1.0
Unit4 = np.zeros((4, 4), ct.c_double, 'F')
for i in range(4):
Unit4[i, i] = 1.0
Cao = Unit.copy('F')
Temp = Unit4.copy('F')
Quat = np.zeros(4, ct.c_double, 'F')
Quat[0] = 1.0
"Extract initial displacements and velocities"
BeamLib.Cbeam_Solv_Disp2State(NumNodes_tot, NumDof, XBINPUT, XBNODE,\
PosDefor, PsiDefor, PosDotDef, PsiDotDef,
X, dXdt)
"Approximate initial accelerations"
"Initialise accelerations as zero arrays"
PosDotDotDef = np.zeros((NumNodes_tot.value, 3), ct.c_double, 'F')
PsiDotDotDef = np.zeros((XBINPUT.NumElems,Settings.MaxElNod,3),\
ct.c_double, 'F')
"Force at the first time-step"
Force = (XBINPUT.ForceStatic + XBINPUT.ForceDyn * ForceTime[0]).copy('F')
"Assemble matrices for dynamic analysis"
BeamLib.Cbeam3_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,\
Force, ForcedVel[0,:], ForcedVelDot[0,:],\
NumDof, Settings.DimMat,\
ms, MglobalFull, Mvel,\
cs, CglobalFull, Cvel,\
ks, KglobalFull, fs, FglobalFull,\
Qglobal, XBOPTS, Cao)
"Get force vector for unconstrained nodes (Force_Dof)"
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(NumDof),\
Force_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),\
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
"Get RHS at initial condition"
Qglobal += -np.dot(FglobalFull, Force_Dof)
"Initial Accel"
dXddt[:] = np.dot(np.linalg.inv(MglobalFull), -Qglobal)
"Record position of all grid points in global FoR at initial time step"
DynOut[0:NumNodes_tot.value, :] = PosDefor
"Position/rotation of the selected node in initial deformed configuration"
PosPsiTime[0, :3] = PosDefor[-1, :]
PosPsiTime[0, 3:] = PsiDefor[-1, XBELEM.NumNodes[-1] - 1, :]
"Get gamma and beta for Newmark scheme"
gamma = 0.5 + XBOPTS.NewmarkDamp.value
beta = 0.25 * (gamma + 0.5)**2
"Time loop"
for iStep in range(NumSteps.value):
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' Time: %-10.4e\n' % (Time[iStep + 1]))
sys.stdout.write(' SubIter DeltaF DeltaX ResLog10\n')
"calculate dt"
dt = Time[iStep + 1] - Time[iStep]
"Update transformation matrix for given angular velocity"
Temp = np.linalg.inv(Unit4 + 0.25 *
XbeamLib.QuadSkew(ForcedVel[iStep + 1, 3:]) * dt)
Quat = np.dot(
Temp,
np.dot(Unit4 - 0.25 * XbeamLib.QuadSkew(ForcedVel[iStep, 3:]) * dt,
Quat))
Quat = Quat / np.linalg.norm(Quat)
Cao = XbeamLib.Rot(Quat)
"Predictor step"
X += dt * dXdt + (0.5 - beta) * dXddt * dt**2
dXdt += (1.0 - gamma) * dXddt * dt
dXddt[:] = 0.0
"Force at current time-step"
Force = (XBINPUT.ForceStatic + \
XBINPUT.ForceDyn*ForceTime[iStep+1]).copy('F')
"Reset convergence parameters"
Iter = 0
ResLog10 = 0.0
"Newton-Raphson loop"
while ( (ResLog10 > np.log10(XBOPTS.MinDelta.value)) \
& (Iter < XBOPTS.MaxIterations.value) ):
"set tensors to zero"
Qglobal[:] = 0.0
Mvel[:, :] = 0.0
Cvel[:, :] = 0.0
MglobalFull[:, :] = 0.0
CglobalFull[:, :] = 0.0
KglobalFull[:, :] = 0.0
FglobalFull[:, :] = 0.0
"Update counter"
Iter += 1
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' %-7d ' % (Iter))
"nodal diplacements and velocities from state vector"
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT, NumNodes_tot, XBELEM, XBNODE,
PosIni, PsiIni, NumDof, X, dXdt,\
PosDefor, PsiDefor, PosDotDef, PsiDotDef)
"update matrices"
BeamLib.Cbeam3_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,\
Force, ForcedVel[iStep+1,:], ForcedVelDot[iStep+1,:],\
NumDof, Settings.DimMat,\
ms, MglobalFull, Mvel,\
cs, CglobalFull, Cvel,\
ks, KglobalFull, fs, FglobalFull,\
Qglobal, XBOPTS, Cao)
"Get force vector for unconstrained nodes (Force_Dof)"
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(NumDof),\
Force_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),\
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
"Solve for update vector"
"Residual"
Qglobal += np.dot(MglobalFull, dXddt) \
+ np.dot(Mvel,ForcedVelDot[iStep+1,:]) \
- np.dot(FglobalFull, Force_Dof)
if XBOPTS.PrintInfo.value == True:
sys.stdout.write('%-10.4e ' % (max(abs(Qglobal))))
"Calculate system matrix for update calculation"
Asys = KglobalFull + \
CglobalFull*gamma/(beta*dt) + \
MglobalFull/(beta*dt**2)
"Solve for update"
DX[:] = np.dot(np.linalg.inv(Asys), -Qglobal)
"Corrector step"
X += DX
dXdt += DX * gamma / (beta * dt)
dXddt += DX / (beta * dt**2)
"Residual at first iteration"
if (Iter == 1):
Res0_Qglobal = max(abs(Qglobal)) + 1.e-16
Res0_DeltaX = max(abs(DX)) + 1.e-16
"Update residual and compute log10"
Res_Qglobal = max(abs(Qglobal)) + 1.e-16
Res_DeltaX = max(abs(DX)) + 1.e-16
ResLog10 = max([np.log10(Res_Qglobal/Res0_Qglobal),\
np.log10(Res_DeltaX/Res0_DeltaX)])
if XBOPTS.PrintInfo.value == True:
sys.stdout.write('%-10.4e %8.4f\n' % (max(abs(DX)), ResLog10))
"END Netwon-Raphson"
"update to converged nodal displacements and velocities"
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT, NumNodes_tot, XBELEM, XBNODE,
PosIni, PsiIni, NumDof, X, dXdt,\
PosDefor, PsiDefor, PosDotDef, PsiDotDef)
PosPsiTime[iStep + 1, :3] = PosDefor[-1, :]
PosPsiTime[iStep + 1, 3:] = PsiDefor[-1, XBELEM.NumNodes[-1] - 1, :]
"Position of all grid points in global FoR"
i1 = (iStep + 1) * NumNodes_tot.value
i2 = (iStep + 2) * NumNodes_tot.value
DynOut[i1:i2, :] = PosDefor
"END Time loop"
"Write _dyn file"
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_dyn.dat'
fp = open(ofile, 'w')
BeamIO.Write_dyn_File(fp, Time, PosPsiTime)
fp.close()
"Write _shape file"
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_shape.dat'
fp = open(ofile, 'w')
BeamIO.Write_shape_File(fp, len(Time), NumNodes_tot.value, Time, DynOut)
fp.close()
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' ... done\n')