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rAKA/src/model/contact_mechanics/resolutions/resolution_penalty.cc
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resolution_penalty.cc
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/**
* @file resolution_penalty.cc
*
* @author Mohit Pundir <mohit.pundir@epfl.ch>
*
* @date creation: Mon Jan 7 2019
* @date last modification: Mon Jan 7 2019
*
* @brief Specialization of the resolution class for the penalty method
*
* @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 "resolution_penalty.hh"
namespace akantu {
/* -------------------------------------------------------------------------- */
ResolutionPenalty::ResolutionPenalty(ContactMechanicsModel & model,
const ID & id)
: Resolution(model, id) {
AKANTU_DEBUG_IN();
this->initialize();
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void ResolutionPenalty::initialize() {
this->registerParam("epsilon", epsilon, Real(0.), _pat_parsable | _pat_modifiable,
"Normal penalty parameter");
this->registerParam("epsilon_t", epsilon_t, Real(0.), _pat_parsable | _pat_modifiable,
"Tangential penalty parameter");
this->registerParam("quadratic", quadratic, bool(false), _pat_parsable | _pat_modifiable,
"penalty function");
}
/* -------------------------------------------------------------------------- */
void ResolutionPenalty::computeNormalForce(Vector<Real> & force, Vector<Real> & n,
ContactElement & element) {
force.clear();
Real tn = element.gap * epsilon;
if (quadratic) {
tn = macaulay(tn)* macaulay(element.gap);
}
else {
tn = macaulay(tn);
}
for (UInt i : arange(force.size())) {
force[i] += n[i] * tn;
}
}
/* -------------------------------------------------------------------------- */
void ResolutionPenalty::computeFrictionalForce(Vector<Real> & force,
Array<Real> & d_alpha,
ContactElement & element) {
Matrix<Real> m_alpha_beta(spatial_dimension - 1, spatial_dimension - 1);
ResolutionUtils::computeMetricTensor(m_alpha_beta, element.tangents);
computeFrictionalTraction(m_alpha_beta, element);
auto & traction = element.traction;
for (auto && values:
zip(traction,
make_view(d_alpha, d_alpha.size()))) {
auto & t_s = std::get<0>(values);
auto & d_s = std::get<1>(values);
force += d_s * t_s;
}
}
/* -------------------------------------------------------------------------- */
void ResolutionPenalty::computeNormalModuli(Matrix<Real> & ke, Array<Real> & n_alpha,
Array<Real> & d_alpha, Vector<Real> & n,
ContactElement & element) {
Real tn = element.gap * epsilon;
tn = macaulay(tn);
Matrix<Real> n_mat(n.storage(), n.size(), 1);
ke.mul<false, true>(n_mat, n_mat);
ke *= epsilon * heaviside(element.gap);
for (auto && values:
zip(make_view(n_alpha, n_alpha.size()),
make_view(d_alpha, d_alpha.size()))) {
auto & n_s = std::get<0>(values);
auto & d_s = std::get<1>(values);
Matrix<Real> ns_mat(n_s.storage(), n_s.size(), 1);
Matrix<Real> ds_mat(d_s.storage(), d_s.size(), 1);
Matrix<Real> tmp1(n_s.size(), n_s.size());
tmp1.mul<false, true>(ns_mat, ds_mat);
Matrix<Real> tmp2(n_s.size(), n_s.size());
tmp2.mul<false, true>(ds_mat, ns_mat);
ke -= (tmp1 + tmp2) * tn;
}
auto surface_dimension = spatial_dimension - 1;
Matrix<Real> m_alpha_beta(surface_dimension, surface_dimension);
ResolutionUtils::computeMetricTensor(m_alpha_beta, element.tangents);
for (auto && values :
zip(arange(surface_dimension),
make_view(n_alpha, n_alpha.size()))) {
auto & s = std::get<0>(values);
auto & n_s = std::get<1>(values);
Matrix<Real> ns_mat(n_s.storage(), n_s.size(), 1);
for (auto && tuple :
zip(arange(surface_dimension),
make_view(n_alpha, n_alpha.size()))) {
auto & t = std::get<0>(tuple);
auto & n_t = std::get<1>(tuple);
Matrix<Real> nt_mat(n_t.storage(), n_t.size(), 1);
Matrix<Real> tmp3(n_s.size(), n_s.size());
tmp3.mul<false, true>(ns_mat, nt_mat);
tmp3 *= m_alpha_beta(s, t) * tn * element.gap;
ke += tmp3;
}
}
}
/* -------------------------------------------------------------------------- */
void ResolutionPenalty::computeFrictionalModuli(Matrix<Real> & /*ke*/,
Array<Real> & t_alpha_beta, Array<Real> & n_alpha_beta,
Array<Real> & /*n_alpha*/, Array<Real> & d_alpha,
Matrix<Real> & phi,
Vector<Real> & n, ContactElement & element) {
auto k_common = computeCommonModuli(t_alpha_beta, n_alpha_beta, d_alpha,
n, element);
const auto & type = element.master.type;
const auto & conn = element.connectivity;
auto surface_dimension = Mesh::getSpatialDimension(type);
auto spatial_dimension = surface_dimension + 1;
Matrix<Real> m_alpha_beta(surface_dimension, surface_dimension);
ResolutionUtils::computeMetricTensor(m_alpha_beta, element.tangents);
Array<Real> g_alpha(conn.size() * spatial_dimension, surface_dimension);
ResolutionUtils::computeGalpha(g_alpha, t_alpha_beta, d_alpha, phi, element);
/*Matrix<Real> k_t;
bool stick = computeFrictionalTraction(m_alpha_beta, element);
if(stick)
k_t = computeStickModuli(g_alpha, d_alpha, m_alpha_beta);
else
k_t = computeSlipModuli(g_alpha, d_alpha, m_alpha_beta, element);*/
}
/* -------------------------------------------------------------------------- */
bool ResolutionPenalty::computeFrictionalTraction(Matrix<Real>& m_alpha_beta,
ContactElement & element) {
Real tn = element.gap * epsilon;
tn = macaulay(tn);
auto delta_xi = element.projection - element.previous_projection;
Vector<Real> trial_traction(delta_xi.size());
trial_traction.mul<false>(m_alpha_beta, delta_xi, epsilon);
trial_traction += element.traction;
auto trial_slip_function = trial_traction.norm() - mu * tn;
bool stick = false;
if (trial_slip_function <= 0) {
element.traction = trial_traction;
stick = true;
}
else{
element.traction = mu * tn * trial_traction / trial_traction.norm();
}
return stick;
}
/* -------------------------------------------------------------------------- */
Array<Real> ResolutionPenalty::computeCommonModuli(Array<Real> & t_alpha_beta,
Array<Real> & n_alpha_beta,
Array<Real> & d_alpha,
Vector<Real> & n,
ContactElement & element) {
Array<Real> kt_alpha(spatial_dimension -1,
d_alpha.size() * d_alpha.size(), "k_T_alpha");
//auto t_alpha_beta_size = t_alpha_beta.size() * (spatial_dimension - 1);
//auto & tangents = element.tangents;
/*for(auto && values :
zip(tangents.transpose(),
make_view(kt_alpha, kt_alpha.size()),
make_view(t_alpha_beta, t_alpha_beta_size),
make_view(n_alpha_beta, n_alpha_beta_size))) {
auto & tangent_s = std::get<0>(values);
auto & kt_s = std::get<1>(values);
auto & t_alpha_s = std::get<2>(values);
auto & n_alpha_s = std::get<3>(values);
Matrix<Real> kt_s_mat(kt_s.storage(), d_alpha.size(), d_alpha.size());
// loop over beta
for(auto && tuple :
zip(make_view(d_alpha, d_alpha.size()),
make_view(n_alpha_ ))) {
auto & d_s = std::get<0>(tuple);
Matrix<Real> tmp(d_s.size(), d_s.size());
// loop over gamma
for(auto && entry :
make_view(d_alpha, d_alpha.size())) {
auto & d_t = std::get<0>(entry);
// compute constant
Matrix<Real> tmp2(d_t.size(), d_t.size());
tmp2.mul<false, true>(d_s, d_t);
kt_s_mat += tmp2;
}
}
}*/
return kt_alpha;
}
/* -------------------------------------------------------------------------- */
Matrix<Real> ResolutionPenalty::computeStickModuli(Array<Real> & g_alpha,
Array<Real> & d_alpha,
Matrix<Real> & m_alpha_beta) {
Matrix<Real> k_stick(d_alpha.size(), d_alpha.size());
for (auto && values :
zip(arange(d_alpha.getNbComponent()),
make_view(d_alpha, d_alpha.size()),
make_view(g_alpha, g_alpha.size()))) {
auto & s = std::get<0>(values);
auto & d_s = std::get<1>(values);
auto & g_s = std::get<2>(values);
Matrix<Real> ds_mat(d_s.storage(), d_s.size(), 1);
Matrix<Real> gs_mat(g_s.storage(), g_s.size(), 1);
Matrix<Real> tmp1(d_s.size(), d_s.size());
tmp1.mul<false, true>(ds_mat, gs_mat);
k_stick += tmp1;
for(auto && tuple :
enumerate(make_view(d_alpha, d_alpha.size()))) {
auto & t = std::get<0>(tuple);
auto & d_t = std::get<1>(tuple);
Matrix<Real> dt_mat(d_t.storage(), d_t.size(), 1);
Matrix<Real> tmp2(d_t.size(), d_t.size());
tmp2.mul<false, true>(ds_mat, dt_mat);
k_stick += tmp2 * m_alpha_beta(s, t);
}
}
k_stick *= epsilon_t;
return k_stick;
}
/* -------------------------------------------------------------------------- */
Matrix<Real> ResolutionPenalty::computeSlipModuli(Array<Real> & g_alpha, Array<Real> & d_alpha,
Matrix<Real> & m_alpha_beta,
ContactElement & element) {
Real tn = element.gap * epsilon;
tn = macaulay(tn);
Real factor;
factor = epsilon_t * mu * tn;
auto p_t = element.traction;
p_t /= p_t.norm();
Matrix<Real> k_slip(d_alpha.size(), d_alpha.size());
/*
// loop for alpha
for(auto && value :
make_view(d_alpha, d_alpha.size())) {
auto & d_s = std::get<0>(value);
// loop for beta
for(auto && tuple :
zip(arange(spatial_dimension - 1),
make_view(d_alpha, d_alpha.size()),
make_view(g_alpha, g_alpha.size()))) {
auto & beta = std::get<0>(tuple);
auto & d_beta = std::get<1>(tuple);
auto & g_beta = std::get<2>(tuple);
// loop for gamma
for(auto && entry :
zip(arange(spatial_dimension - 1),
make_view(d_alpha, d_alpha.size()))) {
auto & gamma = std::get<0>(entry);
auto & d_gamma = std::get<1>(entry);
}
}
}*/
return k_slip;
}
INSTANTIATE_RESOLUTION(penalty, ResolutionPenalty);
} // akantu
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