Method update

SRC/coordTransformation/CorotCrdTransf3d.cpp:348–552

int  
CorotCrdTransf3d::update(void)
{       
    int i, j, k;
    
    /********* OLD REMO - REPLACED BELOW TO FIX BUG ***************
    // determine global displacement increments from last iteration
    const Vector &dispIncrI = nodeIPtr->getIncrDeltaDisp();
    const Vector &dispIncrJ = nodeJPtr->getIncrDeltaDisp();
    
     // get the iterative spins dAlphaI and dAlphaJ 
     // (rotational displacement increments at both nodes)
     
      static Vector dAlphaI(3);
      static Vector dAlphaJ(3);
      
       
        for (k = 0; k < 3; k++)
        {
        dAlphaI(k) = dispIncrI(k+3);
        dAlphaJ(k) = dispIncrJ(k+3);
        }   
    **************************************************************/
    
    // determine global displacement increments from last iteration
    static Vector dispI(6);
    static Vector dispJ(6);
    dispI = nodeIPtr->getTrialDisp();
    dispJ = nodeJPtr->getTrialDisp();
    
    if (nodeIInitialDisp != 0) {
        for (int j=0; j<6; j++)
            dispI(j) -= nodeIInitialDisp[j];
    }
    
    if (nodeJInitialDisp != 0) {
        for (int j=0; j<6; j++)
            dispJ(j) -= nodeJInitialDisp[j];
    }
    
    // get the iterative spins dAlphaI and dAlphaJ 
    // (rotational displacement increments at both nodes)
    
    static Vector dAlphaI(3);
    static Vector dAlphaJ(3);
    
    for (k = 0; k < 3; k++) {
        dAlphaI(k) = dispI(k+3) - alphaI(k);
        dAlphaJ(k) = dispJ(k+3) - alphaJ(k);
        alphaI(k) =  dispI(k+3);
        alphaJ(k) =  dispJ(k+3);
    }   
    
    /************** END OF REPLACEMENT **************************/
    
    // update the nodal triads TI and RJ using quaternions
    static Vector dAlphaIq(4);
    static Vector dAlphaJq(4);