From 0763e1a1a04a777ab64b5ad34d718aa5c08a1565 Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Wed, 13 Dec 2006 14:54:02 +0000
Subject: [PATCH] corrected multiplication order in the computation of the
derivatives of the directors
[[Imported from SVN: r1088]]
---
src/rodassembler.cc | 40 ++++++++++++++++++++--------------------
1 file changed, 20 insertions(+), 20 deletions(-)
diff --git a/src/rodassembler.cc b/src/rodassembler.cc
index fad5b84d..ba24ea45 100644
--- a/src/rodassembler.cc
+++ b/src/rodassembler.cc
@@ -105,34 +105,34 @@ getFirstDerivativesOfDirectors(const Quaternion<double>& q,
for (int j=0; j<3; j++) {
// d1
- dd_dvj[0][j][0] = q[0]*(dq_dvj[j].mult(q))[0] - q[1]*(dq_dvj[j].mult(q))[1]
- - q[2]*(dq_dvj[j].mult(q))[2] + q[3]*(dq_dvj[j].mult(q))[3];
+ dd_dvj[0][j][0] = q[0]*(q.mult(dq_dvj[j]))[0] - q[1]*(q.mult(dq_dvj[j]))[1]
+ - q[2]*(q.mult(dq_dvj[j]))[2] + q[3]*(q.mult(dq_dvj[j]))[3];
- dd_dvj[0][j][1] = (dq_dvj[j].mult(q))[0]*q[1] + q[0]*(dq_dvj[j].mult(q))[1]
- + (dq_dvj[j].mult(q))[2]*q[3] + q[2]*(dq_dvj[j].mult(q))[3];
+ dd_dvj[0][j][1] = (q.mult(dq_dvj[j]))[0]*q[1] + q[0]*(q.mult(dq_dvj[j]))[1]
+ + (q.mult(dq_dvj[j]))[2]*q[3] + q[2]*(q.mult(dq_dvj[j]))[3];
- dd_dvj[0][j][2] = (dq_dvj[j].mult(q))[0]*q[2] + q[0]*(dq_dvj[j].mult(q))[2]
- - (dq_dvj[j].mult(q))[1]*q[3] - q[1]*(dq_dvj[j].mult(q))[3];
+ dd_dvj[0][j][2] = (q.mult(dq_dvj[j]))[0]*q[2] + q[0]*(q.mult(dq_dvj[j]))[2]
+ - (q.mult(dq_dvj[j]))[1]*q[3] - q[1]*(q.mult(dq_dvj[j]))[3];
// d2
- dd_dvj[1][j][0] = (dq_dvj[j].mult(q))[0]*q[1] + q[0]*(dq_dvj[j].mult(q))[1]
- - (dq_dvj[j].mult(q))[2]*q[3] - q[2]*(dq_dvj[j].mult(q))[3];
+ dd_dvj[1][j][0] = (q.mult(dq_dvj[j]))[0]*q[1] + q[0]*(q.mult(dq_dvj[j]))[1]
+ - (q.mult(dq_dvj[j]))[2]*q[3] - q[2]*(q.mult(dq_dvj[j]))[3];
- dd_dvj[1][j][1] = - q[0]*(dq_dvj[j].mult(q))[0] + q[1]*(dq_dvj[j].mult(q))[1]
- - q[2]*(dq_dvj[j].mult(q))[2] + q[3]*(dq_dvj[j].mult(q))[3];
+ dd_dvj[1][j][1] = - q[0]*(q.mult(dq_dvj[j]))[0] + q[1]*(q.mult(dq_dvj[j]))[1]
+ - q[2]*(q.mult(dq_dvj[j]))[2] + q[3]*(q.mult(dq_dvj[j]))[3];
- dd_dvj[1][j][2] = (dq_dvj[j].mult(q))[1]*q[2] + q[1]*(dq_dvj[j].mult(q))[2]
- + (dq_dvj[j].mult(q))[0]*q[3] + q[0]*(dq_dvj[j].mult(q))[3];
+ dd_dvj[1][j][2] = (q.mult(dq_dvj[j]))[1]*q[2] + q[1]*(q.mult(dq_dvj[j]))[2]
+ + (q.mult(dq_dvj[j]))[0]*q[3] + q[0]*(q.mult(dq_dvj[j]))[3];
// d3
- dd_dvj[2][j][0] = (dq_dvj[j].mult(q))[0]*q[2] + q[0]*(dq_dvj[j].mult(q))[2]
- + (dq_dvj[j].mult(q))[1]*q[3] + q[1]*(dq_dvj[j].mult(q))[3];
+ dd_dvj[2][j][0] = (q.mult(dq_dvj[j]))[0]*q[2] + q[0]*(q.mult(dq_dvj[j]))[2]
+ + (q.mult(dq_dvj[j]))[1]*q[3] + q[1]*(q.mult(dq_dvj[j]))[3];
- dd_dvj[2][j][1] = (dq_dvj[j].mult(q))[1]*q[2] + q[1]*(dq_dvj[j].mult(q))[2]
- - (dq_dvj[j].mult(q))[0]*q[3] - q[0]*(dq_dvj[j].mult(q))[3];
+ dd_dvj[2][j][1] = (q.mult(dq_dvj[j]))[1]*q[2] + q[1]*(q.mult(dq_dvj[j]))[2]
+ - (q.mult(dq_dvj[j]))[0]*q[3] - q[0]*(q.mult(dq_dvj[j]))[3];
- dd_dvj[2][j][2] = - q[0]*(dq_dvj[j].mult(q))[0] - q[1]*(dq_dvj[j].mult(q))[1]
- + q[2]*(dq_dvj[j].mult(q))[2] + q[3]*(dq_dvj[j].mult(q))[3];
+ dd_dvj[2][j][2] = - q[0]*(q.mult(dq_dvj[j]))[0] - q[1]*(q.mult(dq_dvj[j]))[1]
+ + q[2]*(q.mult(dq_dvj[j]))[2] + q[3]*(q.mult(dq_dvj[j]))[3];
dd_dvj[0][j] *= 2;
@@ -274,9 +274,9 @@ getLocalMatrix( EntityPointer &entity,
FieldMatrix<double,4,4> A;
for (int a=0; a<4; a++)
for (int b=0; b<4; b++)
- A[a][b] = (dq_dvj[l].mult(hatq))[a] * (dq_dvj[j].mult(hatq))[b]
+ A[a][b] = (hatq.mult(dq_dvj[l]))[a] * (hatq.mult(dq_dvj[j]))[b]
* shapeFunction[i] * shapeFunction[k]
- + hatq[a] * dq_dvij_dvkl[i][j][k][l].mult(hatq)[b];
+ + hatq[a] * hatq.mult(dq_dvij_dvkl[i][j][k][l])[b];
// d1
dd_dvij_dvkl[0][i][j][k][l][0] = A[0][0] - A[1][1] - A[2][2] + A[3][3];
--
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