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solid_mechanics_model_inline_impl.cc
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/**
* @file solid_mechanics_model_inline_impl.cc
*
* @author Guillaume Anciaux <guillaume.anciaux@epfl.ch>
* @author Daniel Pino Muñoz <daniel.pinomunoz@epfl.ch>
* @author Nicolas Richart <nicolas.richart@epfl.ch>
*
* @date creation: Wed Aug 04 2010
* @date last modification: Mon Sep 15 2014
*
* @brief Implementation of the inline functions of the SolidMechanicsModel class
*
* @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/>.
*
*/
/* -------------------------------------------------------------------------- */
inline Material & SolidMechanicsModel::getMaterial(UInt mat_index) {
AKANTU_DEBUG_IN();
AKANTU_DEBUG_ASSERT(mat_index < materials.size(),
"The model " << id << " has no material no "<< mat_index);
AKANTU_DEBUG_OUT();
return *materials[mat_index];
}
/* -------------------------------------------------------------------------- */
inline const Material & SolidMechanicsModel::getMaterial(UInt mat_index) const {
AKANTU_DEBUG_IN();
AKANTU_DEBUG_ASSERT(mat_index < materials.size(),
"The model " << id << " has no material no "<< mat_index);
AKANTU_DEBUG_OUT();
return *materials[mat_index];
}
/* -------------------------------------------------------------------------- */
inline Material & SolidMechanicsModel::getMaterial(const std::string & name) {
AKANTU_DEBUG_IN();
std::map<std::string, UInt>::const_iterator it = materials_names_to_id.find(name);
AKANTU_DEBUG_ASSERT(it != materials_names_to_id.end(),
"The model " << id << " has no material named "<< name);
AKANTU_DEBUG_OUT();
return *materials[it->second];
}
/* -------------------------------------------------------------------------- */
inline UInt SolidMechanicsModel::getMaterialIndex(const std::string & name) const {
AKANTU_DEBUG_IN();
std::map<std::string, UInt>::const_iterator it = materials_names_to_id.find(name);
AKANTU_DEBUG_ASSERT(it != materials_names_to_id.end(),
"The model " << id << " has no material named "<< name);
AKANTU_DEBUG_OUT();
return it->second;
}
/* -------------------------------------------------------------------------- */
inline const Material & SolidMechanicsModel::getMaterial(const std::string & name) const {
AKANTU_DEBUG_IN();
std::map<std::string, UInt>::const_iterator it = materials_names_to_id.find(name);
AKANTU_DEBUG_ASSERT(it != materials_names_to_id.end(),
"The model " << id << " has no material named "<< name);
AKANTU_DEBUG_OUT();
return *materials[it->second];
}
/* -------------------------------------------------------------------------- */
inline void SolidMechanicsModel::setMaterialSelector(MaterialSelector & selector) {
if(is_default_material_selector) delete material_selector;
material_selector = &selector;
is_default_material_selector = false;
}
/* -------------------------------------------------------------------------- */
inline FEEngine & SolidMechanicsModel::getFEEngineBoundary(const ID & name) {
return dynamic_cast<FEEngine &>(getFEEngineClassBoundary<MyFEEngineType>(name));
}
/* -------------------------------------------------------------------------- */
inline void SolidMechanicsModel::splitElementByMaterial(const Array<Element> & elements,
Array<Element> * elements_per_mat) const {
ElementType current_element_type = _not_defined;
GhostType current_ghost_type = _casper;
const Array<UInt> * mat_indexes = NULL;
const Array<UInt> * mat_loc_num = NULL;
Array<Element>::const_iterator<Element> it = elements.begin();
Array<Element>::const_iterator<Element> end = elements.end();
for (; it != end; ++it) {
Element el = *it;
if(el.type != current_element_type || el.ghost_type != current_ghost_type) {
current_element_type = el.type;
current_ghost_type = el.ghost_type;
mat_indexes = &(this->material_index(el.type, el.ghost_type));
mat_loc_num = &(this->material_local_numbering(el.type, el.ghost_type));
}
UInt old_id = el.element;
el.element = (*mat_loc_num)(old_id);
elements_per_mat[(*mat_indexes)(old_id)].push_back(el);
}
}
/* -------------------------------------------------------------------------- */
inline UInt SolidMechanicsModel::getNbDataForElements(const Array<Element> & elements,
SynchronizationTag tag) const {
AKANTU_DEBUG_IN();
UInt size = 0;
UInt nb_nodes_per_element = 0;
Array<Element>::const_iterator<Element> it = elements.begin();
Array<Element>::const_iterator<Element> end = elements.end();
for (; it != end; ++it) {
const Element & el = *it;
nb_nodes_per_element += Mesh::getNbNodesPerElement(el.type);
}
switch(tag) {
case _gst_material_id: {
size += elements.getSize() * sizeof(UInt);
break;
}
case _gst_smm_mass: {
size += nb_nodes_per_element * sizeof(Real) * spatial_dimension; // mass vector
break;
}
case _gst_smm_for_gradu: {
size += nb_nodes_per_element * spatial_dimension * sizeof(Real); // displacement
break;
}
case _gst_smm_boundary: {
// force, displacement, boundary
size += nb_nodes_per_element * spatial_dimension * (2 * sizeof(Real) + sizeof(bool));
break;
}
case _gst_for_dump: {
// displacement, velocity, acceleration, residual, force
size += nb_nodes_per_element * spatial_dimension * sizeof(Real) * 5;
break;
}
default: { }
}
if(tag != _gst_material_id) {
Array<Element> * elements_per_mat = new Array<Element>[materials.size()];
this->splitElementByMaterial(elements, elements_per_mat);
for (UInt i = 0; i < materials.size(); ++i) {
size += materials[i]->getNbDataForElements(elements_per_mat[i], tag);
}
delete [] elements_per_mat;
}
AKANTU_DEBUG_OUT();
return size;
}
/* -------------------------------------------------------------------------- */
inline void SolidMechanicsModel::packElementData(CommunicationBuffer & buffer,
const Array<Element> & elements,
SynchronizationTag tag) const {
AKANTU_DEBUG_IN();
switch(tag) {
case _gst_material_id: {
packElementalDataHelper(material_index, buffer, elements, false, getFEEngine());
break;
}
case _gst_smm_mass: {
packNodalDataHelper(*mass, buffer, elements, mesh);
break;
}
case _gst_smm_for_gradu: {
packNodalDataHelper(*displacement, buffer, elements, mesh);
break;
}
case _gst_for_dump: {
packNodalDataHelper(*displacement, buffer, elements, mesh);
packNodalDataHelper(*velocity, buffer, elements, mesh);
packNodalDataHelper(*acceleration, buffer, elements, mesh);
packNodalDataHelper(*residual, buffer, elements, mesh);
packNodalDataHelper(*force, buffer, elements, mesh);
break;
}
case _gst_smm_boundary: {
packNodalDataHelper(*force, buffer, elements, mesh);
packNodalDataHelper(*velocity, buffer, elements, mesh);
packNodalDataHelper(*blocked_dofs, buffer, elements, mesh);
break;
}
default: {
}
}
if(tag != _gst_material_id) {
Array<Element> * elements_per_mat = new Array<Element>[materials.size()];
splitElementByMaterial(elements, elements_per_mat);
for (UInt i = 0; i < materials.size(); ++i) {
materials[i]->packElementData(buffer, elements_per_mat[i], tag);
}
delete [] elements_per_mat;
}
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
inline void SolidMechanicsModel::unpackElementData(CommunicationBuffer & buffer,
const Array<Element> & elements,
SynchronizationTag tag) {
AKANTU_DEBUG_IN();
switch(tag) {
case _gst_material_id: {
unpackElementalDataHelper(material_index, buffer, elements,
false, getFEEngine());
break;
}
case _gst_smm_mass: {
unpackNodalDataHelper(*mass, buffer, elements, mesh);
break;
}
case _gst_smm_for_gradu: {
unpackNodalDataHelper(*displacement, buffer, elements, mesh);
break;
}
case _gst_for_dump: {
unpackNodalDataHelper(*displacement, buffer, elements, mesh);
unpackNodalDataHelper(*velocity, buffer, elements, mesh);
unpackNodalDataHelper(*acceleration, buffer, elements, mesh);
unpackNodalDataHelper(*residual, buffer, elements, mesh);
unpackNodalDataHelper(*force, buffer, elements, mesh);
break;
}
case _gst_smm_boundary: {
unpackNodalDataHelper(*force, buffer, elements, mesh);
unpackNodalDataHelper(*velocity, buffer, elements, mesh);
unpackNodalDataHelper(*blocked_dofs, buffer, elements, mesh);
break;
}
default: {
}
}
if(tag != _gst_material_id) {
Array<Element> * elements_per_mat = new Array<Element>[materials.size()];
splitElementByMaterial(elements, elements_per_mat);
for (UInt i = 0; i < materials.size(); ++i) {
materials[i]->unpackElementData(buffer, elements_per_mat[i], tag);
}
delete [] elements_per_mat;
}
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
inline UInt SolidMechanicsModel::getNbDataToPack(SynchronizationTag tag) const {
AKANTU_DEBUG_IN();
UInt size = 0;
// UInt nb_nodes = mesh.getNbNodes();
switch(tag) {
case _gst_smm_uv: {
size += sizeof(Real) * spatial_dimension * 2;
break;
}
case _gst_smm_res: {
size += sizeof(Real) * spatial_dimension;
break;
}
case _gst_smm_mass: {
size += sizeof(Real) * spatial_dimension;
break;
}
case _gst_for_dump: {
size += sizeof(Real) * spatial_dimension * 5;
break;
}
default: {
AKANTU_DEBUG_ERROR("Unknown ghost synchronization tag : " << tag);
}
}
AKANTU_DEBUG_OUT();
return size;
}
/* -------------------------------------------------------------------------- */
inline UInt SolidMechanicsModel::getNbDataToUnpack(SynchronizationTag tag) const {
AKANTU_DEBUG_IN();
UInt size = 0;
// UInt nb_nodes = mesh.getNbNodes();
switch(tag) {
case _gst_smm_uv: {
size += sizeof(Real) * spatial_dimension * 2;
break;
}
case _gst_smm_res: {
size += sizeof(Real) * spatial_dimension;
break;
}
case _gst_smm_mass: {
size += sizeof(Real) * spatial_dimension;
break;
}
case _gst_for_dump: {
size += sizeof(Real) * spatial_dimension * 5;
break;
}
default: {
AKANTU_DEBUG_ERROR("Unknown ghost synchronization tag : " << tag);
}
}
AKANTU_DEBUG_OUT();
return size;
}
/* -------------------------------------------------------------------------- */
inline void SolidMechanicsModel::packData(CommunicationBuffer & buffer,
const UInt index,
SynchronizationTag tag) const {
AKANTU_DEBUG_IN();
switch(tag) {
case _gst_smm_uv: {
Array<Real>::const_vector_iterator it_disp = displacement->begin(spatial_dimension);
Array<Real>::const_vector_iterator it_velo = velocity->begin(spatial_dimension);
Vector<Real> disp(it_disp[index]); buffer << disp;
Vector<Real> velo(it_velo[index]); buffer << velo;
break;
}
case _gst_smm_res: {
Array<Real>::const_vector_iterator it_res = residual->begin(spatial_dimension);
Vector<Real> resi(it_res[index]); buffer << resi;
break;
}
case _gst_smm_mass: {
AKANTU_DEBUG_INFO("pack mass of node " << index << " which is " << (*mass)(index,0));
Array<Real>::const_vector_iterator it_mass = mass->begin(spatial_dimension);
Vector<Real> mass(it_mass[index]); buffer << mass;
break;
}
case _gst_for_dump: {
Array<Real>::const_vector_iterator it_disp = displacement->begin(spatial_dimension);
Array<Real>::const_vector_iterator it_velo = velocity->begin(spatial_dimension);
Array<Real>::const_vector_iterator it_acce = acceleration->begin(spatial_dimension);
Array<Real>::const_vector_iterator it_resi = residual->begin(spatial_dimension);
Array<Real>::const_vector_iterator it_forc = force->begin(spatial_dimension);
Vector<Real> disp(it_disp[index]); buffer << disp;
Vector<Real> velo(it_velo[index]); buffer << velo;
Vector<Real> acce(it_acce[index]); buffer << acce;
Vector<Real> resi(it_resi[index]); buffer << resi;
Vector<Real> forc(it_forc[index]); buffer << forc;
break;
}
default: {
AKANTU_DEBUG_ERROR("Unknown ghost synchronization tag : " << tag);
}
}
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
inline void SolidMechanicsModel::unpackData(CommunicationBuffer & buffer,
const UInt index,
SynchronizationTag tag) {
AKANTU_DEBUG_IN();
switch(tag) {
case _gst_smm_uv: {
Array<Real>::vector_iterator it_disp = displacement->begin(spatial_dimension);
Array<Real>::vector_iterator it_velo = velocity->begin(spatial_dimension);
Vector<Real> disp(it_disp[index]); buffer >> disp;
Vector<Real> velo(it_velo[index]); buffer >> velo;
break;
}
case _gst_smm_res: {
Array<Real>::vector_iterator it_res = residual->begin(spatial_dimension);
Vector<Real> res(it_res[index]); buffer >> res;
break;
}
case _gst_smm_mass: {
AKANTU_DEBUG_INFO("mass of node " << index << " was " << (*mass)(index,0));
Array<Real>::vector_iterator it_mass = mass->begin(spatial_dimension);
Vector<Real> mass_v(it_mass[index]); buffer >> mass_v;
AKANTU_DEBUG_INFO("mass of node " << index << " is now " << (*mass)(index,0));
break;
}
case _gst_for_dump: {
Array<Real>::vector_iterator it_disp = displacement->begin(spatial_dimension);
Array<Real>::vector_iterator it_velo = velocity->begin(spatial_dimension);
Array<Real>::vector_iterator it_acce = acceleration->begin(spatial_dimension);
Array<Real>::vector_iterator it_resi = residual->begin(spatial_dimension);
Array<Real>::vector_iterator it_forc = force->begin(spatial_dimension);
Vector<Real> disp(it_disp[index]); buffer >> disp;
Vector<Real> velo(it_velo[index]); buffer >> velo;
Vector<Real> acce(it_acce[index]); buffer >> acce;
Vector<Real> resi(it_resi[index]); buffer >> resi;
Vector<Real> forc(it_forc[index]); buffer >> forc;
break;
}
default: {
AKANTU_DEBUG_ERROR("Unknown ghost synchronization tag : " << tag);
}
}
AKANTU_DEBUG_OUT();
}
__END_AKANTU__
#include "sparse_matrix.hh"
#include "solver.hh"
__BEGIN_AKANTU__
/* -------------------------------------------------------------------------- */
template <NewmarkBeta::IntegrationSchemeCorrectorType type>
void SolidMechanicsModel::solve(Array<Real> &increment, Real block_val,
bool need_factorize, bool has_profile_changed) {
if(has_profile_changed) {
this->initJacobianMatrix();
need_factorize = true;
}
updateResidualInternal(); //doesn't do anything for static
if(need_factorize) {
Real c = 0.,d = 0.,e = 0.;
if(method == _static) {
AKANTU_DEBUG_INFO("Solving K inc = r");
e = 1.;
} else {
AKANTU_DEBUG_INFO("Solving (c M + d C + e K) inc = r");
NewmarkBeta * nmb_int = dynamic_cast<NewmarkBeta *>(integrator);
c = nmb_int->getAccelerationCoefficient<type>(time_step);
d = nmb_int->getVelocityCoefficient<type>(time_step);
e = nmb_int->getDisplacementCoefficient<type>(time_step);
}
jacobian_matrix->clear();
// J = c M + d C + e K
if(stiffness_matrix)
jacobian_matrix->add(*stiffness_matrix, e);
if(mass_matrix)
jacobian_matrix->add(*mass_matrix, c);
#if !defined(AKANTU_NDEBUG)
if(mass_matrix && AKANTU_DEBUG_TEST(dblDump))
mass_matrix->saveMatrix("M.mtx");
#endif
if(velocity_damping_matrix)
jacobian_matrix->add(*velocity_damping_matrix, d);
jacobian_matrix->applyBoundary(*blocked_dofs, block_val);
#if !defined(AKANTU_NDEBUG)
if(AKANTU_DEBUG_TEST(dblDump))
jacobian_matrix->saveMatrix("J.mtx");
#endif
solver->factorize();
}
// if (rhs.getSize() != 0)
// solver->setRHS(rhs);
// else
solver->setOperators();
solver->setRHS(*residual);
// solve @f[ J \delta w = r @f]
solver->solve(increment);
UInt nb_nodes = displacement-> getSize();
UInt nb_degree_of_freedom = displacement->getNbComponent() * nb_nodes;
bool * blocked_dofs_val = blocked_dofs->storage();
Real * increment_val = increment.storage();
for (UInt j = 0; j < nb_degree_of_freedom;
++j,++increment_val, ++blocked_dofs_val) {
if ((*blocked_dofs_val))
*increment_val = 0.0;
}
}
/* -------------------------------------------------------------------------- */
template<SolveConvergenceMethod cmethod, SolveConvergenceCriteria criteria>
bool SolidMechanicsModel::solveStatic(Real tolerance, UInt max_iteration,
bool do_not_factorize) {
AKANTU_DEBUG_INFO("Solving Ku = f");
AKANTU_DEBUG_ASSERT(stiffness_matrix != NULL,
"You should first initialize the implicit solver and assemble the stiffness matrix by calling initImplicit");
AnalysisMethod analysis_method=method;
Real error = 0.;
method=_static;
bool converged = this->template solveStep<cmethod, criteria>(tolerance, error, max_iteration, do_not_factorize);
method=analysis_method;
return converged;
}
/* -------------------------------------------------------------------------- */
template<SolveConvergenceMethod cmethod, SolveConvergenceCriteria criteria>
bool SolidMechanicsModel::solveStep(Real tolerance,
UInt max_iteration) {
Real error = 0.;
return this->template solveStep<cmethod,criteria>(tolerance,
error,
max_iteration);
}
/* -------------------------------------------------------------------------- */
template<SolveConvergenceMethod cmethod, SolveConvergenceCriteria criteria>
bool SolidMechanicsModel::solveStep(Real tolerance, Real & error, UInt max_iteration,
bool do_not_factorize) {
EventManager::sendEvent(SolidMechanicsModelEvent::BeforeSolveStepEvent(method));
this->implicitPred();
this->updateResidual();
AKANTU_DEBUG_ASSERT(stiffness_matrix != NULL,
"You should first initialize the implicit solver and assemble the stiffness matrix");
bool need_factorize = !do_not_factorize;
if (method==_implicit_dynamic) {
AKANTU_DEBUG_ASSERT(mass_matrix != NULL,
"You should first initialize the implicit solver and assemble the mass matrix");
}
switch (cmethod) {
case _scm_newton_raphson_tangent:
case _scm_newton_raphson_tangent_not_computed:
break;
case _scm_newton_raphson_tangent_modified:
this->assembleStiffnessMatrix();
break;
default:
AKANTU_DEBUG_ERROR("The resolution method " << cmethod << " has not been implemented!");
}
this->n_iter = 0;
bool converged = false;
error = 0.;
if(criteria == _scc_residual) {
converged = this->testConvergence<criteria> (tolerance, error);
if(converged) return converged;
}
do {
if (cmethod == _scm_newton_raphson_tangent)
this->assembleStiffnessMatrix();
solve<NewmarkBeta::_displacement_corrector> (*increment, 1., need_factorize);
this->implicitCorr();
if(criteria == _scc_residual) this->updateResidual();
converged = this->testConvergence<criteria> (tolerance, error);
if(criteria == _scc_increment && !converged) this->updateResidual();
//this->dump();
this->n_iter++;
AKANTU_DEBUG_INFO("[" << criteria << "] Convergence iteration "
<< std::setw(std::log10(max_iteration)) << this->n_iter
<< ": error " << error << (converged ? " < " : " > ") << tolerance);
switch (cmethod) {
case _scm_newton_raphson_tangent:
need_factorize = true;
break;
case _scm_newton_raphson_tangent_not_computed:
case _scm_newton_raphson_tangent_modified:
need_factorize = false;
break;
default:
AKANTU_DEBUG_ERROR("The resolution method " << cmethod << " has not been implemented!");
}
} while (!converged && this->n_iter < max_iteration);
// this makes sure that you have correct strains and stresses after the solveStep function (e.g., for dumping)
if(criteria == _scc_increment) this->updateResidual();
if (converged) {
EventManager::sendEvent(SolidMechanicsModelEvent::AfterSolveStepEvent(method));
} else if(this->n_iter == max_iteration) {
AKANTU_DEBUG_WARNING("[" << criteria << "] Convergence not reached after "
<< std::setw(std::log10(max_iteration)) << this->n_iter <<
" iteration" << (this->n_iter == 1 ? "" : "s") << "!" << std::endl);
}
return converged;
}
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