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contact_mechan…

ntn_base_contact.cc
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			/**
			* Copyright (©) 2016-2023 EPFL (Ecole Polytechnique Fédérale de Lausanne)
			* Laboratory (LSMS - Laboratoire de Simulation en Mécanique des Solides)
			*
			* This file is part of Akantu
			*
			* 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 "ntn_base_contact.hh"
			#include "dof_manager_default.hh"
			#include "dumpable_inline_impl.hh"
			#include "dumper_nodal_field.hh"
			#include "dumper_text.hh"
			#include "element_synchronizer.hh"
			#include "mesh_utils.hh"
			#include "non_linear_solver_lumped.hh"
			/* -------------------------------------------------------------------------- */

			namespace akantu {

			/* -------------------------------------------------------------------------- */
			// NTNContactSynchElementFilter::NTNContactSynchElementFilter(
			// NTNBaseContact & contact)
			// : contact(contact),
			// connectivity(contact.getModel().getMesh().getConnectivities()) {
			// AKANTU_DEBUG_IN();

			// AKANTU_DEBUG_OUT();
			// }

			/* -------------------------------------------------------------------------- */
			// bool NTNContactSynchElementFilter::operator()(const Element & e) {
			// AKANTU_DEBUG_IN();

			// ElementType type = e.type;
			// UInt element = e.element;
			// GhostType ghost_type = e.ghost_type;

			// // loop over all nodes of this element
			// bool need_element = false;
			// UInt nb_nodes = Mesh::getNbNodesPerElement(type);
			// for (UInt n = 0; n < nb_nodes; ++n) {
			// UInt nn = this->connectivity(type, ghost_type)(element, n);

			// // if one nodes is in this contact, we need this element
			// if (this->contact.getNodeIndex(nn) >= 0) {
			// need_element = true;
			// break;
			// }
			// }

			// AKANTU_DEBUG_OUT();
			// return need_element;
			// }

			/* -------------------------------------------------------------------------- */
			NTNBaseContact::NTNBaseContact(SolidMechanicsModel & model, const ID & id)
			: id(id), model(model),
			slaves(0, 1, 0, id + ":slaves", std::numeric_limits<UInt>::quiet_NaN(),
			"slaves"),
			normals(0, model.getSpatialDimension(), 0, id + ":normals",
			std::numeric_limits<Real>::quiet_NaN(), "normals"),
			contact_pressure(
			0, model.getSpatialDimension(), 0, id + ":contact_pressure",
			std::numeric_limits<Real>::quiet_NaN(), "contact_pressure"),
			is_in_contact(0, 1, false, id + ":is_in_contact", false, "is_in_contact"),
			lumped_boundary_slaves(0, 1, 0, id + ":lumped_boundary_slaves",
			std::numeric_limits<Real>::quiet_NaN(),
			"lumped_boundary_slaves"),
			impedance(0, 1, 0, id + ":impedance",
			std::numeric_limits<Real>::quiet_NaN(), "impedance"),
			slave_elements("slave_elements", id) {
			AKANTU_DEBUG_IN();

			auto & boundary_fem = this->model.getFEEngineBoundary();
			for (auto && ghost_type : ghost_types) {
			boundary_fem.initShapeFunctions(ghost_type);
			}

			auto & mesh = this->model.getMesh();
			auto spatial_dimension = this->model.getSpatialDimension();

			this->slave_elements.initialize(mesh,
			_spatial_dimension = spatial_dimension - 1);

			MeshUtils::buildNode2Elements(mesh, this->node_to_elements,
			spatial_dimension - 1);

			this->registerDumper<DumperText>("text_all", id, true);
			this->addDumpFilteredMesh(mesh, slave_elements, slaves.getArray(),
			spatial_dimension - 1, _not_ghost, _ek_regular);

			// parallelisation
			this->synch_registry = std::make_unique<SynchronizerRegistry>();
			this->synch_registry->registerDataAccessor(*this);

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			NTNBaseContact::~NTNBaseContact() = default;

			/* -------------------------------------------------------------------------- */
			void NTNBaseContact::initParallel() {
			AKANTU_DEBUG_IN();

			this->synchronizer = std::make_unique<ElementSynchronizer>(
			this->model.getMesh().getElementSynchronizer());

			this->synchronizer->filterScheme([&](auto && element) {
			// loop over all nodes of this element
			auto && conn = this->model.getMesh().getConnectivity(element);
			for (auto & node : conn) {
			// if one nodes is in this contact, we need this element
			if (this->getNodeIndex(node) >= 0) {
			return true;
			}
			}
			return false;
			});

			this->synch_registry->registerSynchronizer(*(this->synchronizer),
			SynchronizationTag::_cf_nodal);
			this->synch_registry->registerSynchronizer(*(this->synchronizer),
			SynchronizationTag::_cf_incr);

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			void NTNBaseContact::findBoundaryElements(const Array<Idx> & interface_nodes,
			ElementTypeMapArray<Idx> & elements) {
			AKANTU_DEBUG_IN();

			// add connected boundary elements that have all nodes on this contact
			for (const auto & node : interface_nodes) {
			for (const auto & element : this->node_to_elements.getRow(node)) {
			Vector<Idx> conn = this->model.getMesh().getConnectivity(element);
			auto nb_nodes = conn.size();
			decltype(nb_nodes) nb_found_nodes = 0;

			for (auto & nn : conn) {
			if (interface_nodes.find(nn) != -1) {
			nb_found_nodes++;
			} else {
			break;
			}
			}

			// this is an element between all contact nodes
			// and is not already in the elements
			if ((nb_found_nodes == nb_nodes) &&
			(elements(element.type, element.ghost_type).find(element.element) ==
			-1)) {
			elements(element.type, element.ghost_type).push_back(element.element);
			}
			}
			}

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			void NTNBaseContact::addSplitNode(Idx node, Idx /unused/) {
			AKANTU_DEBUG_IN();

			Int dim = this->model.getSpatialDimension();

			// add to node arrays
			this->slaves.push_back(node);

			// set contact as false
			this->is_in_contact.push_back(false);

			// before initializing
			// set contact pressure, normal, lumped_boundary to Nan
			this->contact_pressure.push_back(std::numeric_limits<Real>::quiet_NaN());
			this->impedance.push_back(std::numeric_limits<Real>::quiet_NaN());
			this->lumped_boundary_slaves.push_back(
			std::numeric_limits<Real>::quiet_NaN());

			Vector<Real> nan_normal(dim);
			nan_normal.fill(std::numeric_limits<Real>::quiet_NaN());

			this->normals.push_back(nan_normal);

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			void NTNBaseContact::registerSynchronizedArray(SynchronizedArrayBase & array) {
			AKANTU_DEBUG_IN();

			this->slaves.registerDependingArray(array);

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			void NTNBaseContact::dumpRestart(const std::string & file_name) const {
			AKANTU_DEBUG_IN();

			this->slaves.dumpRestartFile(file_name);
			this->normals.dumpRestartFile(file_name);
			this->is_in_contact.dumpRestartFile(file_name);
			this->contact_pressure.dumpRestartFile(file_name);
			this->lumped_boundary_slaves.dumpRestartFile(file_name);
			this->impedance.dumpRestartFile(file_name);

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			void NTNBaseContact::readRestart(const std::string & file_name) {
			AKANTU_DEBUG_IN();

			this->slaves.readRestartFile(file_name);
			this->normals.readRestartFile(file_name);
			this->is_in_contact.readRestartFile(file_name);
			this->contact_pressure.readRestartFile(file_name);
			this->lumped_boundary_slaves.readRestartFile(file_name);
			this->impedance.readRestartFile(file_name);

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			Int NTNBaseContact::getNbNodesInContact() const {
			AKANTU_DEBUG_IN();

			Int nb_contact = 0;

			auto nb_nodes = this->getNbContactNodes();
			const auto & mesh = this->model.getMesh();

			for (Int n = 0; n < nb_nodes; ++n) {
			auto is_local_node = mesh.isLocalOrMasterNode(this->slaves(n));
			auto is_pbc_slave_node = mesh.isPeriodicSlave(this->slaves(n));
			if (is_local_node && !is_pbc_slave_node && this->is_in_contact(n)) {
			nb_contact++;
			}
			}

			mesh.getCommunicator().allReduce(nb_contact, SynchronizerOperation::_sum);

			AKANTU_DEBUG_OUT();
			return nb_contact;
			}

			/* -------------------------------------------------------------------------- */
			void NTNBaseContact::updateInternalData() {
			AKANTU_DEBUG_IN();

			updateNormals();
			updateLumpedBoundary();
			updateImpedance();

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			void NTNBaseContact::updateLumpedBoundary() {
			AKANTU_DEBUG_IN();

			this->internalUpdateLumpedBoundary(this->slaves.getArray(),
			this->slave_elements,
			this->lumped_boundary_slaves);

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			void NTNBaseContact::internalUpdateLumpedBoundary(
			const Array<Idx> & nodes, const ElementTypeMapArray<Idx> & elements,
			SynchronizedArray<Real> & boundary) {
			AKANTU_DEBUG_IN();

			// set all values in lumped_boundary to zero
			boundary.zero();

			auto dim = this->model.getSpatialDimension();

			const auto & boundary_fem = this->model.getFEEngineBoundary();

			const auto & mesh = this->model.getMesh();

			for (auto ghost_type : ghost_types) {
			for (const auto & type : mesh.elementTypes(dim - 1, ghost_type)) {
			auto nb_elements = mesh.getNbElement(type, ghost_type);
			auto nb_nodes_per_element = mesh.getNbNodesPerElement(type);
			const auto & connectivity = mesh.getConnectivity(type, ghost_type);

			// get shapes and compute integral
			const auto & shapes = boundary_fem.getShapes(type, ghost_type);
			Array<Real> area(nb_elements, nb_nodes_per_element);
			boundary_fem.integrate(shapes, area, nb_nodes_per_element, type,
			ghost_type);

			if (this->contact_surfaces.empty()) {
			AKANTU_DEBUG_WARNING(
			"No surfaces in ntn base contact."
			<< " You have to define the lumped boundary by yourself.");
			}

			// loop over contact nodes
			for (auto && elem : elements(type, ghost_type)) {
			for (Int q = 0; q < nb_nodes_per_element; ++q) {
			auto node = connectivity(elem, q);
			auto node_index = nodes.find(node);
			AKANTU_DEBUG_ASSERT(node_index != Int(-1), "Could not find node "
			<< node
			<< " in the array!");
			Real area_to_add = area(elem, q);
			boundary(node_index) += area_to_add;
			}
			}
			}
			}

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			void NTNBaseContact::computeAcceleration(Array<Real> & acceleration) const {
			auto && dof_manager =
			dynamic_cast<DOFManagerDefault &>(model.getDOFManager());
			const auto & b = dof_manager.getResidual();
			acceleration.resize(b.size());
			const auto & blocked_dofs = dof_manager.getGlobalBlockedDOFs();
			const auto & A = dof_manager.getLumpedMatrix("M");

			Array<bool> blocked_dofs_bool(blocked_dofs.size());
			for (auto && data : zip(blocked_dofs, blocked_dofs_bool)) {
			std::get<1>(data) = (std::get<0>(data) != 0);
			}

			// pre-compute the acceleration
			// (not increment acceleration, because residual is still Kf)
			NonLinearSolverLumped::solveLumped(A, acceleration, b, this->model.getF_M2A(),
			blocked_dofs_bool);
			}

			/* -------------------------------------------------------------------------- */
			void NTNBaseContact::computeContactPressure() {
			AKANTU_DEBUG_IN();

			auto dim = this->model.getSpatialDimension();
			auto delta_t = this->model.getTimeStep();
			auto nb_contact_nodes = getNbContactNodes();

			AKANTU_DEBUG_ASSERT(delta_t > 0.,
			"Cannot compute contact pressure if no time step is set");

			// synchronize data
			this->synch_registry->synchronize(SynchronizationTag::_cf_nodal);

			Array<Real> acceleration(0, dim);
			this->computeAcceleration(acceleration);

			// compute relative normal fields of displacement, velocity and acceleration
			Array<Real> r_disp(0, 1);
			Array<Real> r_velo(0, 1);
			Array<Real> r_acce(0, 1);
			Array<Real> r_old_acce(0, 1);
			computeNormalGap(r_disp);
			// computeRelativeNormalField(this->model.getCurrentPosition(), r_disp);
			computeRelativeNormalField(this->model.getVelocity(), r_velo);
			computeRelativeNormalField(acceleration, r_acce);
			computeRelativeNormalField(this->model.getAcceleration(), r_old_acce);

			AKANTU_DEBUG_ASSERT(r_disp.size() == nb_contact_nodes,
			"computeRelativeNormalField does not give back arrays "
			<< "size == nb_contact_nodes. nb_contact_nodes = "
			<< nb_contact_nodes
			<< " \| array size = " << r_disp.size());

			// compute gap array for all nodes
			Array<Real> gap(nb_contact_nodes, 1);
			Real * gap_p = gap.data();
			Real * r_disp_p = r_disp.data();
			Real * r_velo_p = r_velo.data();
			Real * r_acce_p = r_acce.data();
			Real * r_old_acce_p = r_old_acce.data();
			for (Int i = 0; i < nb_contact_nodes; ++i) {
			gap_p = r_disp_p + delta_t * r_velo_p + delta_t delta_t * *r_acce_p -
			0.5 * delta_t * delta_t * *r_old_acce_p;
			// increment pointers
			gap_p++;
			r_disp_p++;
			r_velo_p++;
			r_acce_p++;
			r_old_acce_p++;
			}

			// check if gap is negative -> is in contact
			for (Int n = 0; n < nb_contact_nodes; ++n) {
			if (gap(n) <= 0.) {
			for (Int d = 0; d < dim; ++d) {
			this->contact_pressure(n, d) =
			this->impedance(n) * gap(n) / (2 * delta_t) * this->normals(n, d);
			}
			this->is_in_contact(n) = true;
			} else {
			for (Int d = 0; d < dim; ++d) {
			this->contact_pressure(n, d) = 0.;
			}
			this->is_in_contact(n) = false;
			}
			}

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			void NTNBaseContact::applyContactPressure() {
			auto nb_contact_nodes = getNbContactNodes();
			auto dim = this->model.getSpatialDimension();

			auto & residual = this->model.getInternalForce();

			for (Int n = 0; n < nb_contact_nodes; ++n) {
			auto slave = this->slaves(n);

			for (Int d = 0; d < dim; ++d) {
			// residual(master,d) += this->lumped_boundary(n,0) *
			// this->contact_pressure(n,d);
			residual(slave, d) -=
			this->lumped_boundary_slaves(n) * this->contact_pressure(n, d);
			}
			}
			}

			/* -------------------------------------------------------------------------- */
			Int NTNBaseContact::getNodeIndex(Idx node) const {
			return this->slaves.find(node);
			}

			/* -------------------------------------------------------------------------- */
			void NTNBaseContact::printself(std::ostream & stream, int indent) const {
			std::string space(AKANTU_INDENT, indent);

			stream << space << "NTNBaseContact [" << std::endl;
			stream << space << " + id : " << id << std::endl;
			stream << space << " + slaves : " << std::endl;
			this->slaves.printself(stream, indent + 2);
			stream << space << " + normals : " << std::endl;
			this->normals.printself(stream, indent + 2);
			stream << space << " + contact_pressure : " << std::endl;
			this->contact_pressure.printself(stream, indent + 2);

			stream << space << "]" << std::endl;
			}

			/* -------------------------------------------------------------------------- */
			void NTNBaseContact::syncArrays(SyncChoice sync_choice) {
			this->slaves.syncElements(sync_choice);
			this->normals.syncElements(sync_choice);
			this->is_in_contact.syncElements(sync_choice);
			this->contact_pressure.syncElements(sync_choice);
			this->lumped_boundary_slaves.syncElements(sync_choice);
			this->impedance.syncElements(sync_choice);
			}

			/* -------------------------------------------------------------------------- */
			void NTNBaseContact::addDumpFieldToDumper(const std::string & dumper_name,
			const std::string & field_id) {
			AKANTU_DEBUG_IN();

			const auto & nodal_filter = this->slaves.getArray();

			#define ADD_FIELD(field_id, field, type) \
			internalAddDumpFieldToDumper( \
			dumper_name, field_id, \
			std::make_unique< \
			dumpers::NodalField<type, true, Array<type>, Array<Idx>>>( \
			field, 0, 0, &nodal_filter))

			if (field_id == "displacement") {
			ADD_FIELD(field_id, this->model.getDisplacement(), Real);
			} else if (field_id == "mass") {
			ADD_FIELD(field_id, this->model.getMass(), Real);
			} else if (field_id == "velocity") {
			ADD_FIELD(field_id, this->model.getVelocity(), Real);
			} else if (field_id == "acceleration") {
			ADD_FIELD(field_id, this->model.getAcceleration(), Real);
			} else if (field_id == "external_force") {
			ADD_FIELD(field_id, this->model.getExternalForce(), Real);
			} else if (field_id == "internal_force") {
			ADD_FIELD(field_id, this->model.getInternalForce(), Real);
			} else if (field_id == "blocked_dofs") {
			ADD_FIELD(field_id, this->model.getBlockedDOFs(), bool);
			} else if (field_id == "increment") {
			ADD_FIELD(field_id, this->model.getIncrement(), Real);
			} else if (field_id == "normal") {
			internalAddDumpFieldToDumper(
			dumper_name, field_id,
			std::make_unique<dumpers::NodalField<Real>>(this->normals.getArray()));
			} else if (field_id == "contact_pressure") {
			internalAddDumpFieldToDumper(dumper_name, field_id,
			std::make_unique<dumpers::NodalField<Real>>(
			this->contact_pressure.getArray()));
			} else if (field_id == "is_in_contact") {
			internalAddDumpFieldToDumper(dumper_name, field_id,
			std::make_unique<dumpers::NodalField<bool>>(
			this->is_in_contact.getArray()));
			} else if (field_id == "lumped_boundary_slave") {
			internalAddDumpFieldToDumper(dumper_name, field_id,
			std::make_unique<dumpers::NodalField<Real>>(
			this->lumped_boundary_slaves.getArray()));
			} else if (field_id == "impedance") {
			internalAddDumpFieldToDumper(dumper_name, field_id,
			std::make_unique<dumpers::NodalField<Real>>(
			this->impedance.getArray()));
			} else {
			std::cerr << "Could not add field '" << field_id
			<< "' to the dumper. Just ignored it." << std::endl;
			}

			#undef ADD_FIELD

			AKANTU_DEBUG_OUT();
			}

			} // namespace akantu

rAKA/extra_packages/traction-at-split-node-contact/src/ntn_contact/ntn_base_contact.cc20e355af2b02bugfixes/contact_mechan…

ntn_base_contact.ccView Options

rAKA/extra_packages/traction-at-split-node-contact/src/ntn_contact/ntn_base_contact.cc
20e355af2b02bugfixes/contact_mechan…

ntn_base_contact.cc
View Options