/// <summary>
/// Inserts the local vector of forces into the global one, and adds its negative to the parent entries
/// </summary>
/// <param name="GlobalForceVector">The global force vector</param>
/// <returns>The global force vector with the local forces of the element and its children inserted</returns>
public Vector <double> GetGlobalForceMomentVector(Vector <double> GlobalForceVector)
{
int ElementIndex = GetElementIndex();
int ParentIndex = Parent.GetElementIndex();
Vector <double> LocalVector = GetLocalForceMomentVector();
GlobalForceVector.AddAtIndex(LocalVector, ElementIndex);
GlobalForceVector.AddAtIndex(-LocalVector, ParentIndex);
return(GlobalForceVector);
}
/// <summary>
/// Calculates the coriolis-vector
/// </summary>
/// <param name="CoriolisVector">The vector where the element-matrices get inserted</param>
/// <param name="GlobalStateVector">The global state vector</param>
/// <returns></returns>
public Vector <double> GetCoriolisVector(Vector <double> CoriolisVector, StateVector GlobalStateVector)
{
Matrix <double> JacobianDerivative = GetGlobalJacobianDerivative(CreateMatrix.Dense <double>(Elements.Count * 6, Elements.Count * 6));
Vector <double> Velocities = CreateVector.Dense <double>(3);/// GlobalStateVector.SubVector(GlobalStateVector.Count / 2, GlobalStateVector.Count / 2);
CoriolisVector = JacobianDerivative * Velocities;
Vector <double> LocalStateVector, AngularVelocity;
int count = 3;
foreach (Element i in Elements)
{
LocalStateVector = GlobalStateVector.GetStateVectorForId(i.ElementId);
AngularVelocity = i.GetLocalAngularVelocity(LocalStateVector);
Matrix <double> Roessel = RoesselMatrix.GetRoesselMatrix(AngularVelocity);
CoriolisVector.AddAtIndex(Roessel * i.Inertia * AngularVelocity, count);
count += 3;
}
return(CoriolisVector);
}