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rAKA/src/model/solid_mechanics/material.hh
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material.hh
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/**
* @file material.hh
*
* @author Marco Vocialta <marco.vocialta@epfl.ch>
* @author Nicolas Richart <nicolas.richart@epfl.ch>
* @author Daniel Pino Muñoz <daniel.pinomunoz@epfl.ch>
*
* @date creation: Tue Jul 27 2010
* @date last modification: Tue Sep 16 2014
*
* @brief Mother class for all materials
*
* @section LICENSE
*
* Copyright (©) 2010-2012, 2014 EPFL (Ecole Polytechnique Fédérale de Lausanne)
* Laboratory (LSMS - Laboratoire de Simulation en Mécanique des Solides)
*
* Akantu is free software: you can redistribute it and/or modify it under the
* terms of the GNU Lesser General Public License as published by the Free
* Software Foundation, either version 3 of the License, or (at your option) any
* later version.
*
* Akantu is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
* A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
* details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with Akantu. If not, see <http://www.gnu.org/licenses/>.
*
*/
/* -------------------------------------------------------------------------- */
#include "aka_common.hh"
#include "aka_memory.hh"
#include "aka_voigthelper.hh"
#include "parser.hh"
#include "parsable.hh"
#include "data_accessor.hh"
#include "internal_field.hh"
#include "random_internal_field.hh"
#include "solid_mechanics_model_event_handler.hh"
/* -------------------------------------------------------------------------- */
#ifndef __AKANTU_MATERIAL_HH__
#define __AKANTU_MATERIAL_HH__
/* -------------------------------------------------------------------------- */
namespace akantu {
class Model;
class SolidMechanicsModel;
}
__BEGIN_AKANTU__
/**
* Interface of all materials
* Prerequisites for a new material
* - inherit from this class
* - implement the following methods:
* \code
* virtual Real getStableTimeStep(Real h, const Element & element = ElementNull);
*
* virtual void computeStress(ElementType el_type,
* GhostType ghost_type = _not_ghost);
*
* virtual void computeTangentStiffness(const ElementType & el_type,
* Array<Real> & tangent_matrix,
* GhostType ghost_type = _not_ghost);
* \endcode
*
*/
class Material : public Memory, public DataAccessor, public Parsable,
public MeshEventHandler,
protected SolidMechanicsModelEventHandler {
/* ------------------------------------------------------------------------ */
/* Constructors/Destructors */
/* ------------------------------------------------------------------------ */
public:
#if __cplusplus > 199711L
Material(const Material & mat) = delete;
Material & operator=(const Material & mat) = delete;
#endif
/// Initialize material with defaults
Material(SolidMechanicsModel & model, const ID & id = "");
/// Initialize material with custom mesh & fe_engine
Material(SolidMechanicsModel & model,
UInt dim,
const Mesh & mesh,
FEEngine & fe_engine,
const ID & id = "");
/// Destructor
virtual ~Material();
protected:
void initialize();
/* ------------------------------------------------------------------------ */
/* Function that materials can/should reimplement */
/* ------------------------------------------------------------------------ */
protected:
/// constitutive law
virtual void computeStress(__attribute__((unused)) ElementType el_type,
__attribute__((unused)) GhostType ghost_type = _not_ghost) {
AKANTU_DEBUG_TO_IMPLEMENT();
}
/// compute the tangent stiffness matrix
virtual void computeTangentModuli(__attribute__((unused)) const ElementType & el_type,
__attribute__((unused)) Array<Real> & tangent_matrix,
__attribute__((unused)) GhostType ghost_type = _not_ghost) {
AKANTU_DEBUG_TO_IMPLEMENT();
}
/// compute the potential energy
virtual void computePotentialEnergy(ElementType el_type, GhostType ghost_type = _not_ghost);
/// compute the potential energy for an element
virtual void computePotentialEnergyByElement(__attribute__((unused)) ElementType type,
__attribute__((unused)) UInt index,
__attribute__((unused)) Vector<Real> & epot_on_quad_points) {
AKANTU_DEBUG_TO_IMPLEMENT();
}
virtual void updateEnergies(__attribute__((unused)) ElementType el_type,
__attribute__((unused)) GhostType ghost_type = _not_ghost) { }
virtual void updateEnergiesAfterDamage(__attribute__((unused)) ElementType el_type,
__attribute__((unused)) GhostType ghost_type = _not_ghost) {}
/// set the material to steady state (to be implemented for materials that need it)
virtual void setToSteadyState(__attribute__((unused)) ElementType el_type,
__attribute__((unused)) GhostType ghost_type = _not_ghost) { }
/// function called to update the internal parameters when the modifiable
/// parameters are modified
virtual void updateInternalParameters() {}
public:
/// extrapolate internal values
virtual void extrapolateInternal(const ID & id, const Element & element, const Matrix<Real> & points, Matrix<Real> & extrapolated);
/// compute the p-wave speed in the material
virtual Real getPushWaveSpeed(const Element & element) const { AKANTU_DEBUG_TO_IMPLEMENT(); }
/// compute the s-wave speed in the material
virtual Real getShearWaveSpeed(const Element & element) const { AKANTU_DEBUG_TO_IMPLEMENT(); }
/// get a material celerity to compute the stable time step (default: is the push wave speed)
virtual Real getCelerity(const Element & element) const { return getPushWaveSpeed(element); }
/* ------------------------------------------------------------------------ */
/* Methods */
/* ------------------------------------------------------------------------ */
public:
template<typename T>
void registerInternal(__attribute__((unused)) InternalField<T> & vect) {
AKANTU_DEBUG_TO_IMPLEMENT();
}
template<typename T>
void unregisterInternal(__attribute__((unused)) InternalField<T> & vect) {
AKANTU_DEBUG_TO_IMPLEMENT();
}
/// initialize the material computed parameter
virtual void initMaterial();
/// compute the residual for this material
virtual void updateResidual(GhostType ghost_type = _not_ghost);
/// assemble the residual for this material
virtual void assembleResidual(GhostType ghost_type);
/// save the stress in the previous_stress if needed
virtual void savePreviousState();
/// compute the stresses for this material
virtual void computeAllStresses(GhostType ghost_type = _not_ghost);
virtual void computeAllStressesFromTangentModuli(GhostType ghost_type = _not_ghost);
virtual void computeAllCauchyStresses(GhostType ghost_type = _not_ghost);
/// set material to steady state
void setToSteadyState(GhostType ghost_type = _not_ghost);
/// compute the stiffness matrix
virtual void assembleStiffnessMatrix(GhostType ghost_type);
/// add an element to the local mesh filter
inline UInt addElement(const ElementType & type,
UInt element,
const GhostType & ghost_type);
/// add many elements at once
void addElements(const Array<Element> & elements_to_add);
/// remove many element at once
void removeElements(const Array<Element> & elements_to_remove);
/// function to print the contain of the class
virtual void printself(std::ostream & stream, int indent = 0) const;
/**
* interpolate stress on given positions for each element by means
* of a geometrical interpolation on quadrature points
*/
void interpolateStress(ElementTypeMapArray<Real> & result,
const GhostType ghost_type = _not_ghost);
/**
* interpolate stress on given positions for each element by means
* of a geometrical interpolation on quadrature points and store the
* results per facet
*/
void interpolateStressOnFacets(ElementTypeMapArray<Real> & result,
ElementTypeMapArray<Real> & by_elem_result,
const GhostType ghost_type = _not_ghost);
/**
* function to initialize the elemental field interpolation
* function by inverting the quadrature points' coordinates
*/
void initElementalFieldInterpolation(const ElementTypeMapArray<Real> & interpolation_points_coordinates);
/* ------------------------------------------------------------------------ */
/* Common part */
/* ------------------------------------------------------------------------ */
protected:
/* ------------------------------------------------------------------------ */
inline UInt getTangentStiffnessVoigtSize(UInt spatial_dimension) const;
/// compute the potential energy by element
void computePotentialEnergyByElements();
/// resize the intenals arrays
virtual void resizeInternals();
/* ------------------------------------------------------------------------ */
/* Finite deformation functions */
/* This functions area implementing what is described in the paper of Bathe */
/* et al, in IJNME, Finite Element Formulations For Large Deformation */
/* Dynamic Analysis, Vol 9, 353-386, 1975 */
/* ------------------------------------------------------------------------ */
protected:
/// assemble the residual
template<UInt dim>
void assembleResidual(GhostType ghost_type);
/// Computation of Cauchy stress tensor in the case of finite deformation from
/// the 2nd Piola-Kirchhoff for a given element type
template<UInt dim>
void computeCauchyStress(__attribute__((unused)) ElementType el_type,
__attribute__((unused)) GhostType ghost_type = _not_ghost);
/// Computation the Cauchy stress the 2nd Piola-Kirchhoff and the deformation
/// gradient
template<UInt dim >
inline void computeCauchyStressOnQuad(const Matrix<Real> & F, const Matrix<Real> & S,
Matrix<Real> & cauchy,
const Real & C33 = 1.0) const;
template<UInt dim>
void computeAllStressesFromTangentModuli(const ElementType & type,
GhostType ghost_type);
template<UInt dim>
void assembleStiffnessMatrix(const ElementType & type,
GhostType ghost_type);
/// assembling in finite deformation
template<UInt dim>
void assembleStiffnessMatrixNL(const ElementType & type,
GhostType ghost_type);
template<UInt dim>
void assembleStiffnessMatrixL2(const ElementType & type,
GhostType ghost_type);
/// Size of the Stress matrix for the case of finite deformation see: Bathe et
/// al, IJNME, Vol 9, 353-386, 1975
inline UInt getCauchyStressMatrixSize(UInt spatial_dimension) const;
/// Sets the stress matrix according to Bathe et al, IJNME, Vol 9, 353-386, 1975
template<UInt dim>
inline void setCauchyStressMatrix(const Matrix<Real> & S_t,
Matrix<Real> & sigma);
/// write the stress tensor in the Voigt notation.
template<UInt dim>
inline void setCauchyStressArray(const Matrix<Real> & S_t,
Matrix<Real> & sigma_voight);
/* ------------------------------------------------------------------------ */
/* Conversion functions */
/* ------------------------------------------------------------------------ */
public:
template<UInt dim>
static inline void gradUToF (const Matrix<Real> & grad_u, Matrix<Real> & F);
static inline void rightCauchy(const Matrix<Real> & F, Matrix<Real> & C);
static inline void leftCauchy (const Matrix<Real> & F, Matrix<Real> & B);
template<UInt dim>
static inline void gradUToEpsilon(const Matrix<Real> & grad_u,
Matrix<Real> & epsilon);
template<UInt dim>
static inline void gradUToGreenStrain(const Matrix<Real> & grad_u,
Matrix<Real> & epsilon);
static inline Real stressToVonMises(const Matrix<Real> & stress);
protected:
/// converts global element to local element
inline Element convertToLocalElement(const Element & global_element) const;
/// converts local element to global element
inline Element convertToGlobalElement(const Element & local_element) const;
/// converts global quadrature point to local quadrature point
inline IntegrationPoint convertToLocalPoint(const IntegrationPoint & global_point) const;
/// converts local quadrature point to global quadrature point
inline IntegrationPoint convertToGlobalPoint(const IntegrationPoint & local_point) const;
/* ------------------------------------------------------------------------ */
/* DataAccessor inherited members */
/* ------------------------------------------------------------------------ */
public:
virtual inline UInt getNbDataForElements(const Array<Element> & elements,
SynchronizationTag tag) const;
virtual inline void packElementData(CommunicationBuffer & buffer,
const Array<Element> & elements,
SynchronizationTag tag) const;
virtual inline void unpackElementData(CommunicationBuffer & buffer,
const Array<Element> & elements,
SynchronizationTag tag);
template<typename T>
inline void packElementDataHelper(const ElementTypeMapArray<T> & data_to_pack,
CommunicationBuffer & buffer,
const Array<Element> & elements,
const ID & fem_id = ID()) const;
template<typename T>
inline void unpackElementDataHelper(ElementTypeMapArray<T> & data_to_unpack,
CommunicationBuffer & buffer,
const Array<Element> & elements,
const ID & fem_id = ID());
/* ------------------------------------------------------------------------ */
/* MeshEventHandler inherited members */
/* ------------------------------------------------------------------------ */
public:
/* ------------------------------------------------------------------------ */
virtual void onNodesAdded(
__attribute__((unused)) const Array<UInt> & nodes_list,
__attribute__((unused)) const NewNodesEvent & event) {};
virtual void onNodesRemoved(
__attribute__((unused)) const Array<UInt> & nodes_list,
__attribute__((unused)) const Array<UInt> & new_numbering,
__attribute__((unused)) const RemovedNodesEvent & event) {};
virtual void onElementsAdded(const Array<Element> & element_list,
const NewElementsEvent & event);
virtual void onElementsRemoved(const Array<Element> & element_list,
const ElementTypeMapArray<UInt> & new_numbering,
const RemovedElementsEvent & event);
/* ------------------------------------------------------------------------ */
/* SolidMechanicsModelEventHandler inherited members */
/* ------------------------------------------------------------------------ */
public:
virtual void onBeginningSolveStep(const AnalysisMethod & method);
virtual void onEndSolveStep(const AnalysisMethod & method);
virtual void onDamageIteration();
virtual void onDamageUpdate();
virtual void onDump();
/* ------------------------------------------------------------------------ */
/* Accessors */
/* ------------------------------------------------------------------------ */
public:
AKANTU_GET_MACRO(Name, name, const std::string &);
AKANTU_GET_MACRO(Model, *model, const SolidMechanicsModel &)
AKANTU_GET_MACRO(ID, Memory::getID(), const ID &);
AKANTU_GET_MACRO(Rho, rho, Real);
AKANTU_SET_MACRO(Rho, rho, Real);
AKANTU_GET_MACRO(SpatialDimension, spatial_dimension, UInt);
/// return the potential energy for the subset of elements contained by the material
Real getPotentialEnergy();
/// return the potential energy for the provided element
Real getPotentialEnergy(ElementType & type, UInt index);
/// return the energy (identified by id) for the subset of elements contained by the material
virtual Real getEnergy(std::string energy_id);
/// return the energy (identified by id) for the provided element
virtual Real getEnergy(std::string energy_id, ElementType type, UInt index);
AKANTU_GET_MACRO_BY_ELEMENT_TYPE_CONST(ElementFilter, element_filter, UInt);
AKANTU_GET_MACRO_BY_ELEMENT_TYPE_CONST(GradU, gradu, Real);
AKANTU_GET_MACRO_BY_ELEMENT_TYPE_CONST(Stress, stress, Real);
AKANTU_GET_MACRO_BY_ELEMENT_TYPE_CONST(PotentialEnergy, potential_energy, Real);
AKANTU_GET_MACRO(GradU, gradu, const ElementTypeMapArray<Real> &);
AKANTU_GET_MACRO(Stress, stress, const ElementTypeMapArray<Real> &);
AKANTU_GET_MACRO(ElementFilter, element_filter, const ElementTypeMapArray<UInt> &);
AKANTU_GET_MACRO(FEEngine, *fem, FEEngine &);
bool isNonLocal() const { return is_non_local; }
template <typename T>
const Array<T> & getArray(const ID & id, const ElementType & type, const GhostType & ghost_type = _not_ghost) const;
template <typename T>
Array<T> & getArray(const ID & id, const ElementType & type, const GhostType & ghost_type = _not_ghost);
template <typename T>
const InternalField<T> & getInternal(const ID & id) const;
template <typename T>
InternalField<T> & getInternal(const ID & id);
inline bool isInternal(const ID & id, const ElementKind & element_kind) const;
virtual ElementTypeMap<UInt> getInternalDataPerElem(const ID & id,
const ElementKind & element_kind,
const ID & fe_engine_id = "") const;
bool isFiniteDeformation() const { return finite_deformation; }
bool isInelasticDeformation() const { return inelastic_deformation; }
template <typename T>
inline void setParam(const ID & param, T value);
template <typename T>
inline const T & getParam(const ID & param) const;
virtual void flattenInternal(const std::string & field_id,
ElementTypeMapArray<Real> & internal_flat,
const GhostType ghost_type = _not_ghost,
ElementKind element_kind = _ek_not_defined) const;
/// apply a constant eigengrad_u everywhere in the material
virtual void applyEigenGradU(const Matrix<Real> & prescribed_eigen_grad_u, const GhostType = _not_ghost);
protected:
/// internal variation of the flatten function that is more flexible and can
/// be used by inherited materials to change some behavior
virtual void flattenInternalIntern(const std::string & field_id,
ElementTypeMapArray<Real> & internal_flat,
UInt spatial_dimension,
const GhostType ghost_type,
ElementKind element_kind,
const ElementTypeMapArray<UInt> * element_filter = NULL,
const Mesh * mesh = NULL) const;
protected:
bool isInit() const { return is_init; }
/* ------------------------------------------------------------------------ */
/* Class Members */
/* ------------------------------------------------------------------------ */
protected:
/// boolean to know if the material has been initialized
bool is_init;
std::map<ID, InternalField<Real> *> internal_vectors_real;
std::map<ID, InternalField<UInt> *> internal_vectors_uint;
std::map<ID, InternalField<bool> *> internal_vectors_bool;
protected:
/// Link to the fem object in the model
FEEngine * fem;
/// Finite deformation
bool finite_deformation;
/// Finite deformation
bool inelastic_deformation;
/// material name
std::string name;
/// The model to witch the material belong
SolidMechanicsModel * model;
/// density : rho
Real rho;
/// spatial dimension
UInt spatial_dimension;
/// list of element handled by the material
ElementTypeMapArray<UInt> element_filter;
/// stresses arrays ordered by element types
InternalField<Real> stress;
/// eigengrad_u arrays ordered by element types
InternalField<Real> eigengradu;
/// grad_u arrays ordered by element types
InternalField<Real> gradu;
/// Green Lagrange strain (Finite deformation)
InternalField<Real> green_strain;
/// Second Piola-Kirchhoff stress tensor arrays ordered by element types (Finite deformation)
InternalField<Real> piola_kirchhoff_2;
/// potential energy by element
InternalField<Real> potential_energy;
/// tell if using in non local mode or not
bool is_non_local;
/// tell if the material need the previous stress state
bool use_previous_stress;
/// tell if the material need the previous strain state
bool use_previous_gradu;
/// elemental field interpolation coordinates
InternalField<Real> interpolation_inverse_coordinates;
/// elemental field interpolation points
InternalField<Real> interpolation_points_matrices;
/// vector that contains the names of all the internals that need to
/// be transferred when material interfaces move
std::vector<ID> internals_to_transfer;
};
/* -------------------------------------------------------------------------- */
/* inline functions */
/* -------------------------------------------------------------------------- */
#include "material_inline_impl.cc"
/// standard output stream operator
inline std::ostream & operator <<(std::ostream & stream, const Material & _this)
{
_this.printself(stream);
return stream;
}
__END_AKANTU__
#include "internal_field_tmpl.hh"
#include "random_internal_field_tmpl.hh"
/* -------------------------------------------------------------------------- */
/* Auto loop */
/* -------------------------------------------------------------------------- */
/// This can be used to automatically write the loop on quadrature points in
/// functions such as computeStress. This macro in addition to write the loop
/// provides two tensors (matrices) sigma and grad_u
#define MATERIAL_STRESS_QUADRATURE_POINT_LOOP_BEGIN(el_type, ghost_type) \
Array<Real>::matrix_iterator gradu_it = \
this->gradu(el_type, ghost_type).begin(this->spatial_dimension, \
this->spatial_dimension); \
Array<Real>::matrix_iterator gradu_end = \
this->gradu(el_type, ghost_type).end(this->spatial_dimension, \
this->spatial_dimension); \
\
this->stress(el_type, \
ghost_type).resize(this->gradu(el_type, \
ghost_type).getSize()); \
\
Array<Real>::iterator< Matrix<Real> > stress_it = \
this->stress(el_type, ghost_type).begin(this->spatial_dimension, \
this->spatial_dimension); \
\
if(this->isFiniteDeformation()){ \
this->piola_kirchhoff_2(el_type, \
ghost_type).resize(this->gradu(el_type, \
ghost_type).getSize()); \
stress_it = \
this->piola_kirchhoff_2(el_type, \
ghost_type).begin(this->spatial_dimension, \
this->spatial_dimension); \
} \
\
for(;gradu_it != gradu_end; ++gradu_it, ++stress_it) { \
Matrix<Real> & __attribute__((unused)) grad_u = *gradu_it; \
Matrix<Real> & __attribute__((unused)) sigma = *stress_it
#define MATERIAL_STRESS_QUADRATURE_POINT_LOOP_END \
} \
/// This can be used to automatically write the loop on quadrature points in
/// functions such as computeTangentModuli. This macro in addition to write the
/// loop provides two tensors (matrices) sigma_tensor, grad_u, and a matrix
/// where the elemental tangent moduli should be stored in Voigt Notation
#define MATERIAL_TANGENT_QUADRATURE_POINT_LOOP_BEGIN(tangent_mat) \
Array<Real>::matrix_iterator gradu_it = \
this->gradu(el_type, ghost_type).begin(this->spatial_dimension, \
this->spatial_dimension); \
Array<Real>::matrix_iterator gradu_end = \
this->gradu(el_type, ghost_type).end(this->spatial_dimension, \
this->spatial_dimension); \
Array<Real>::matrix_iterator sigma_it = \
this->stress(el_type, ghost_type).begin(this->spatial_dimension, \
this->spatial_dimension); \
\
tangent_mat.resize(this->gradu(el_type, ghost_type).getSize()); \
\
UInt tangent_size = \
this->getTangentStiffnessVoigtSize(this->spatial_dimension); \
Array<Real>::matrix_iterator tangent_it = \
tangent_mat.begin(tangent_size, \
tangent_size); \
\
for(;gradu_it != gradu_end; ++gradu_it, ++sigma_it, ++tangent_it) { \
Matrix<Real> & __attribute__((unused)) grad_u = *gradu_it; \
Matrix<Real> & __attribute__((unused)) sigma_tensor = *sigma_it; \
Matrix<Real> & tangent = *tangent_it
#define MATERIAL_TANGENT_QUADRATURE_POINT_LOOP_END \
} \
/* -------------------------------------------------------------------------- */
#define INSTANTIATE_MATERIAL(mat_name) \
template class mat_name<1>; \
template class mat_name<2>; \
template class mat_name<3>
#endif /* __AKANTU_MATERIAL_HH__ */
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