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rAKA akantu
contact_detector_inline_impl.cc
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/**
* @file contact_detection.hh
*
* @author Mohit Pundir <mohit.pundir@epfl.ch>
*
* @date creation: Mon Apr 29 2019
* @date last modification: Mon Apr 29 2019
*
* @brief inine implementation of the contact detector class
*
* @section LICENSE
*
* Copyright (©) 2010-2018 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 "contact_detector.hh"
/* -------------------------------------------------------------------------- */
#ifndef __AKANTU_CONTACT_DETECTOR_INLINE_IMPL_CC__
#define __AKANTU_CONTACT_DETECTOR_INLINE_IMPL_CC__
namespace
akantu
{
/* -------------------------------------------------------------------------- */
inline
bool
ContactDetector
::
checkValidityOfProjection
(
Vector
<
Real
>
&
projection
)
{
UInt
nb_xi_inside
=
0
;
Real
tolerance
=
1e-3
;
for
(
auto
xi
:
projection
)
{
if
(
xi
>=
-
1.0
-
tolerance
and
xi
<=
1.0
+
tolerance
)
nb_xi_inside
++
;
}
if
(
nb_xi_inside
==
projection
.
size
())
return
true
;
return
false
;
}
/* -------------------------------------------------------------------------- */
inline
void
ContactDetector
::
coordinatesOfElement
(
const
Element
&
el
,
Matrix
<
Real
>
&
coords
)
{
UInt
nb_nodes_per_element
=
Mesh
::
getNbNodesPerElement
(
el
.
type
);
Vector
<
UInt
>
connect
=
mesh
.
getConnectivity
(
el
.
type
,
_not_ghost
)
.
begin
(
nb_nodes_per_element
)[
el
.
element
];
for
(
UInt
n
=
0
;
n
<
nb_nodes_per_element
;
++
n
)
{
UInt
node
=
connect
[
n
];
for
(
UInt
s
:
arange
(
spatial_dimension
))
{
coords
(
s
,
n
)
=
this
->
positions
(
node
,
s
);
}
}
}
/* -------------------------------------------------------------------------- */
inline
void
ContactDetector
::
computeCellSpacing
(
Vector
<
Real
>
&
spacing
)
{
for
(
UInt
s
:
arange
(
spatial_dimension
))
spacing
(
s
)
=
std
::
sqrt
(
2.0
)
*
max_dd
;
}
/* -------------------------------------------------------------------------- */
inline
void
ContactDetector
::
constructBoundingBox
(
BBox
&
bbox
,
const
Array
<
UInt
>
&
nodes_list
)
{
auto
to_bbox
=
[
&
](
UInt
node
)
{
Vector
<
Real
>
pos
(
spatial_dimension
);
for
(
UInt
s
:
arange
(
spatial_dimension
))
{
pos
(
s
)
=
this
->
positions
(
node
,
s
);
}
bbox
+=
pos
;
};
std
::
for_each
(
nodes_list
.
begin
(),
nodes_list
.
end
(),
to_bbox
);
auto
&
lower_bound
=
bbox
.
getLowerBounds
();
auto
&
upper_bound
=
bbox
.
getUpperBounds
();
for
(
UInt
s
:
arange
(
spatial_dimension
))
{
lower_bound
(
s
)
-=
this
->
max_bb
;
upper_bound
(
s
)
+=
this
->
max_bb
;
}
AKANTU_DEBUG_INFO
(
"BBox"
<<
bbox
);
}
/* -------------------------------------------------------------------------- */
inline
void
ContactDetector
::
constructGrid
(
SpatialGrid
<
UInt
>
&
grid
,
BBox
&
bbox
,
const
Array
<
UInt
>
&
nodes_list
)
{
auto
to_grid
=
[
&
](
UInt
node
)
{
Vector
<
Real
>
pos
(
spatial_dimension
);
for
(
UInt
s
:
arange
(
spatial_dimension
))
{
pos
(
s
)
=
this
->
positions
(
node
,
s
);
}
if
(
bbox
.
contains
(
pos
))
{
grid
.
insert
(
node
,
pos
);
}
};
std
::
for_each
(
nodes_list
.
begin
(),
nodes_list
.
end
(),
to_grid
);
}
/* -------------------------------------------------------------------------- */
inline
void
ContactDetector
::
computeMaximalDetectionDistance
()
{
AKANTU_DEBUG_IN
();
Real
elem_size
;
Real
max_elem_size
=
std
::
numeric_limits
<
Real
>::
min
();
Real
min_elem_size
=
std
::
numeric_limits
<
Real
>::
max
();
auto
&
master_nodes
=
this
->
surface_selector
->
getMasterList
();
for
(
auto
&
master
:
master_nodes
)
{
Array
<
Element
>
elements
;
this
->
mesh
.
getAssociatedElements
(
master
,
elements
);
for
(
auto
element
:
elements
)
{
UInt
nb_nodes_per_element
=
mesh
.
getNbNodesPerElement
(
element
.
type
);
Matrix
<
Real
>
elem_coords
(
spatial_dimension
,
nb_nodes_per_element
);
this
->
coordinatesOfElement
(
element
,
elem_coords
);
elem_size
=
FEEngine
::
getElementInradius
(
elem_coords
,
element
.
type
);
max_elem_size
=
std
::
max
(
max_elem_size
,
elem_size
);
min_elem_size
=
std
::
min
(
min_elem_size
,
elem_size
);
}
}
AKANTU_DEBUG_INFO
(
"The maximum element size : "
<<
max_elem_size
);
this
->
min_dd
=
min_elem_size
;
this
->
max_dd
=
max_elem_size
;
this
->
max_bb
=
max_elem_size
;
AKANTU_DEBUG_OUT
();
}
/* -------------------------------------------------------------------------- */
inline
Vector
<
UInt
>
ContactDetector
::
constructConnectivity
(
UInt
&
slave
,
const
Element
&
master
)
{
Vector
<
UInt
>
master_conn
=
const_cast
<
const
Mesh
&>
(
this
->
mesh
).
getConnectivity
(
master
);
Vector
<
UInt
>
elem_conn
(
master_conn
.
size
()
+
1
);
elem_conn
[
0
]
=
slave
;
for
(
UInt
i
=
1
;
i
<
elem_conn
.
size
();
++
i
)
{
elem_conn
[
i
]
=
master_conn
[
i
-
1
];
}
return
elem_conn
;
}
/* -------------------------------------------------------------------------- */
inline
void
ContactDetector
::
computeNormalOnElement
(
const
Element
&
element
,
Vector
<
Real
>
&
normal
)
{
Matrix
<
Real
>
vectors
(
spatial_dimension
,
spatial_dimension
-
1
);
this
->
vectorsAlongElement
(
element
,
vectors
);
switch
(
this
->
spatial_dimension
)
{
case
2
:
{
Math
::
normal2
(
vectors
.
storage
(),
normal
.
storage
());
break
;
}
case
3
:
{
Math
::
normal3
(
vectors
(
0
).
storage
(),
vectors
(
1
).
storage
(),
normal
.
storage
());
break
;
}
default
:
{
AKANTU_ERROR
(
"Unknown dimension : "
<<
spatial_dimension
);
}
}
// to ensure that normal is always outwards from master surface
const
auto
&
element_to_subelement
=
mesh
.
getElementToSubelement
(
element
.
type
)(
element
.
element
);
Vector
<
Real
>
outside
(
spatial_dimension
);
mesh
.
getBarycenter
(
element
,
outside
);
// check if mesh facets exists for cohesive elements contact
Vector
<
Real
>
inside
(
spatial_dimension
);
if
(
mesh
.
isMeshFacets
())
{
mesh
.
getMeshParent
().
getBarycenter
(
element_to_subelement
[
0
],
inside
);
}
else
{
mesh
.
getBarycenter
(
element_to_subelement
[
0
],
inside
);
}
Vector
<
Real
>
inside_to_outside
=
outside
-
inside
;
auto
projection
=
inside_to_outside
.
dot
(
normal
);
if
(
projection
<
0
)
{
normal
*=
-
1.0
;
}
}
/* -------------------------------------------------------------------------- */
inline
void
ContactDetector
::
vectorsAlongElement
(
const
Element
&
el
,
Matrix
<
Real
>
&
vectors
)
{
UInt
nb_nodes_per_element
=
Mesh
::
getNbNodesPerElement
(
el
.
type
);
Matrix
<
Real
>
coords
(
spatial_dimension
,
nb_nodes_per_element
);
this
->
coordinatesOfElement
(
el
,
coords
);
switch
(
spatial_dimension
)
{
case
2
:
{
vectors
(
0
)
=
Vector
<
Real
>
(
coords
(
1
))
-
Vector
<
Real
>
(
coords
(
0
));
break
;
}
case
3
:
{
vectors
(
0
)
=
Vector
<
Real
>
(
coords
(
1
))
-
Vector
<
Real
>
(
coords
(
0
));
vectors
(
1
)
=
Vector
<
Real
>
(
coords
(
2
))
-
Vector
<
Real
>
(
coords
(
0
));
break
;
}
default
:
{
AKANTU_ERROR
(
"Unknown dimension : "
<<
spatial_dimension
);
}
}
}
/* -------------------------------------------------------------------------- */
inline
Real
ContactDetector
::
computeGap
(
Vector
<
Real
>
&
slave
,
Vector
<
Real
>
&
master
)
{
Vector
<
Real
>
slave_to_master
(
spatial_dimension
);
slave_to_master
=
master
-
slave
;
Real
gap
=
slave_to_master
.
norm
();
return
gap
;
}
/* -------------------------------------------------------------------------- */
inline
void
ContactDetector
::
filterBoundaryElements
(
Array
<
Element
>
&
elements
,
Array
<
Element
>
&
boundary_elements
)
{
for
(
auto
elem
:
elements
)
{
const
auto
&
element_to_subelement
=
mesh
.
getElementToSubelement
(
elem
.
type
)(
elem
.
element
);
// for regular boundary elements
if
(
element_to_subelement
.
size
()
==
1
and
element_to_subelement
[
0
].
kind
()
==
_ek_regular
)
{
boundary_elements
.
push_back
(
elem
);
continue
;
}
// for cohesive boundary elements
UInt
nb_subelements_regular
=
0
;
for
(
auto
subelem
:
element_to_subelement
)
{
if
(
subelem
==
ElementNull
)
continue
;
if
(
subelem
.
kind
()
==
_ek_regular
)
++
nb_subelements_regular
;
}
auto
nb_subelements
=
element_to_subelement
.
size
();
if
(
nb_subelements_regular
<
nb_subelements
)
boundary_elements
.
push_back
(
elem
);
}
}
/* -------------------------------------------------------------------------- */
inline
bool
ContactDetector
::
checkValidityOfSelfContact
(
const
UInt
&
slave_node
,
ContactElement
&
element
)
{
UInt
master_node
;
for
(
auto
&
pair
:
contact_pairs
)
{
if
(
pair
.
first
==
slave_node
)
{
master_node
=
pair
.
second
;
break
;
}
}
Array
<
Element
>
elements
;
this
->
mesh
.
getAssociatedElements
(
slave_node
,
elements
);
Vector
<
Real
>
slave_normal
(
spatial_dimension
);
for
(
auto
&
elem
:
elements
)
{
if
(
elem
.
kind
()
!=
_ek_regular
)
continue
;
Vector
<
UInt
>
connectivity
=
const_cast
<
const
Mesh
&>
(
this
->
mesh
).
getConnectivity
(
elem
);
Vector
<
Real
>
normal
(
spatial_dimension
);
this
->
computeNormalOnElement
(
elem
,
normal
);
slave_normal
=
slave_normal
+
normal
;
auto
node_iter
=
std
::
find
(
connectivity
.
begin
(),
connectivity
.
end
(),
master_node
);
if
(
node_iter
!=
connectivity
.
end
())
{
return
false
;
}
}
if
(
std
::
abs
(
element
.
gap
)
>
2.0
*
min_dd
)
{
return
false
;
}
auto
norm
=
slave_normal
.
norm
();
if
(
norm
!=
0
)
{
slave_normal
/=
norm
;
}
auto
product
=
slave_normal
.
dot
(
element
.
normal
);
if
(
product
>=
0
)
{
return
false
;
}
return
true
;
}
/* -------------------------------------------------------------------------- */
inline
bool
ContactDetector
::
isValidSelfContact
(
const
UInt
&
slave_node
,
const
Real
&
gap
,
const
Vector
<
Real
>
&
normal
)
{
UInt
master_node
;
// finding the master node corresponding to slave node
for
(
auto
&
pair
:
contact_pairs
)
{
if
(
pair
.
first
==
slave_node
)
{
master_node
=
pair
.
second
;
break
;
}
}
Array
<
Element
>
slave_elements
;
this
->
mesh
.
getAssociatedElements
(
slave_node
,
slave_elements
);
// Check 1 : master node is not connected to elements connected to
// slave node
Vector
<
Real
>
slave_normal
(
spatial_dimension
);
for
(
auto
&
element
:
slave_elements
)
{
if
(
element
.
kind
()
!=
_ek_regular
)
continue
;
Vector
<
UInt
>
connectivity
=
const_cast
<
const
Mesh
&>
(
this
->
mesh
).
getConnectivity
(
element
);
// finding the normal at slave node by averaging of normals
Vector
<
Real
>
normal
(
spatial_dimension
);
GeometryUtils
::
normal
(
mesh
,
positions
,
element
,
normal
);
slave_normal
=
slave_normal
+
normal
;
auto
node_iter
=
std
::
find
(
connectivity
.
begin
(),
connectivity
.
end
(),
master_node
);
if
(
node_iter
!=
connectivity
.
end
())
return
false
;
}
// Check 2 : if gap is twice the size of smallest element
if
(
std
::
abs
(
gap
)
>
2.0
*
min_dd
)
return
false
;
// Check 3 : check the directions of normal at slave node and at
// master element, should be in opposite directions
auto
norm
=
slave_normal
.
norm
();
if
(
norm
!=
0
)
slave_normal
/=
norm
;
auto
product
=
slave_normal
.
dot
(
normal
);
if
(
product
>=
0
)
return
false
;
return
true
;
}
}
// namespace akantu
#endif
/* __AKANTU_CONTACT_DETECTOR_INLINE_IMPL_CC__ */
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