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rAKA/src/ntn_contact/ntn_base_contact.cc
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ntn_base_contact.cc
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/**
* @file ntn_base_contact.cc
* @author David Kammer <david.kammer@epfl.ch>
* @date Fri Aug 23 11:05:52 2013
*
* @brief implementation of ntn base contact
*
* @section LICENSE
*
* Copyright (©) 2010-2011 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/>.
*
*/
/* -------------------------------------------------------------------------- */
// simtools
#include "ntn_base_contact.hh"
#include "dumper_text.hh"
__BEGIN_SIMTOOLS__
/* -------------------------------------------------------------------------- */
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 ContactID & id,
const MemoryID & memory_id) :
Memory(id,memory_id), Dumpable(), 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"),
contact_surfaces(),
slave_elements("slave_elements", id, memory_id),
node_to_elements(),
synch_registry(NULL)
{
AKANTU_DEBUG_IN();
FEEngine & boundary_fem = this->model.getFEEngineBoundary();
for (ghost_type_t::iterator gt = ghost_type_t::begin(); gt != ghost_type_t::end(); ++gt) {
boundary_fem.initShapeFunctions(*gt);
}
Mesh & mesh = this->model.getMesh();
UInt spatial_dimension = this->model.getSpatialDimension();
mesh.initElementTypeMapArray(this->slave_elements,
1,
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 = new SynchronizerRegistry(*this);
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
NTNBaseContact::~NTNBaseContact() {
AKANTU_DEBUG_IN();
if(this->synch_registry) delete this->synch_registry;
if(this->synchronizer) delete this->synchronizer;
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void NTNBaseContact::initParallel() {
AKANTU_DEBUG_IN();
NTNContactSynchElementFilter elem_filter(this);
this->synchronizer = FilteredSynchronizer::
createFilteredSynchronizer(this->model.getSynchronizer(),
elem_filter);
this->synch_registry->registerSynchronizer(*(this->synchronizer), _gst_cf_nodal);
this->synch_registry->registerSynchronizer(*(this->synchronizer), _gst_cf_incr);
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void NTNBaseContact::findBoundaryElements(const Array<UInt> & interface_nodes,
ElementTypeMapArray<UInt> & elements) {
AKANTU_DEBUG_IN();
UInt nb_interface_nodes = interface_nodes.getSize();
const ElementTypeMapArray<UInt> & connectivity = this->model.getMesh().getConnectivities();
// add connected boundary elements that have all nodes on this contact
for (UInt i=0; i<nb_interface_nodes; ++i) {
UInt node = interface_nodes(i);
CSR<Element>::iterator it = this->node_to_elements.begin(node);
CSR<Element>::iterator it_e = this->node_to_elements.end(node);
for (; it != it_e; ++it) { // loop over all elements connected to node
ElementType type = it->type;
UInt element = it->element;
GhostType ghost_type = it->ghost_type;
UInt nb_nodes = Mesh::getNbNodesPerElement(type);
UInt nb_found_nodes = 0;
for (UInt n=0; n<nb_nodes; ++n) {
UInt nn = connectivity(type,ghost_type)(element,n);
if (interface_nodes.find(nn) >= 0)
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(type,ghost_type).find(element) < 0)) {
elements(type, ghost_type).push_back(element);
}
}
}
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void NTNBaseContact::addSplitNode(UInt node) {
AKANTU_DEBUG_IN();
UInt 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());
Real nan_normal[dim];
for (UInt d=0; d<dim; ++d)
nan_normal[d] = 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();
}
/* -------------------------------------------------------------------------- */
UInt NTNBaseContact::getNbNodesInContact() const {
AKANTU_DEBUG_IN();
UInt nb_contact = 0;
UInt nb_nodes = this->getNbContactNodes();
const Mesh & mesh = this->model.getMesh();
for (UInt n = 0; n < nb_nodes; ++n) {
bool is_local_node = mesh.isLocalOrMasterNode(this->slaves(n));
bool is_pbc_slave_node = this->model.isPBCSlaveNode(this->slaves(n));
if (is_local_node && !is_pbc_slave_node && this->is_in_contact(n)) {
nb_contact++;
}
}
StaticCommunicator::getStaticCommunicator().allReduce(&nb_contact, 1, _so_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<UInt> & nodes,
const ElementTypeMapArray<UInt> & elements,
SynchronizedArray<Real> & boundary) {
AKANTU_DEBUG_IN();
// set all values in lumped_boundary to zero
boundary.clear();
UInt dim = this->model.getSpatialDimension();
UInt nb_contact_nodes = getNbContactNodes();
const FEEngine & boundary_fem = this->model.getFEEngineBoundary();
const Mesh & mesh = this->model.getMesh();
for (ghost_type_t::iterator gt = ghost_type_t::begin(); gt != ghost_type_t::end(); ++gt) {
Mesh::type_iterator it = mesh.firstType(dim-1, *gt);
Mesh::type_iterator last = mesh.lastType(dim-1, *gt);
for (; it != last; ++it) {
UInt nb_elements = mesh.getNbElement(*it, *gt);
UInt nb_nodes_per_element = mesh.getNbNodesPerElement(*it);
const Array<UInt> & connectivity = mesh.getConnectivity(*it, *gt);
// get shapes and compute integral
const Array<Real> & shapes = boundary_fem.getShapes(*it, *gt);
Array<Real> area(nb_elements,nb_nodes_per_element);
boundary_fem.integrate(shapes,area,nb_nodes_per_element,*it, *gt);
if (this->contact_surfaces.size() == 0) {
AKANTU_DEBUG_WARNING("No surfaces in ntn base contact."
<< " You have to define the lumped boundary by yourself.");
}
Array<UInt>::const_iterator<UInt> elem_it = (elements)(*it, *gt).begin();
Array<UInt>::const_iterator<UInt> elem_it_end = (elements)(*it, *gt).end();
// loop over contact nodes
for (; elem_it != elem_it_end; ++elem_it) {
for (UInt q=0; q<nb_nodes_per_element; ++q) {
UInt node = connectivity(*elem_it,q);
UInt node_index = nodes.find(node);
AKANTU_DEBUG_ASSERT(node_index != -1,
"Could not find node " << node
<< " in the array!");
Real area_to_add = area(*elem_it,q);
boundary(node_index) += area_to_add;
}
}
}
}
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void NTNBaseContact::computeContactPressure() {
AKANTU_DEBUG_IN();
UInt dim = this->model.getSpatialDimension();
Real delta_t = this->model.getTimeStep();
UInt 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(_gst_cf_nodal);
// pre-compute the acceleration
// (not increment acceleration, because residual is still Kf)
Array<Real> acceleration(this->model.getMesh().getNbNodes(), dim, 0.);
this->model.solveLumped(acceleration,
this->model.getMass(),
this->model.getResidual(),
this->model.getBlockedDOFs(),
this->model.getF_M2A());
const Array<Real> & residual = this->model.getResidual();
// 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.getSize() == nb_contact_nodes,
"computeRelativeNormalField does not give back arrays "
<< "size == nb_contact_nodes. nb_contact_nodes = " << nb_contact_nodes
<< " | array size = " << r_disp.getSize());
// compute gap array for all nodes
Array<Real> gap(nb_contact_nodes, 1);
Real * gap_p = gap.storage();
Real * r_disp_p = r_disp.storage();
Real * r_velo_p = r_velo.storage();
Real * r_acce_p = r_acce.storage();
Real * r_old_acce_p = r_old_acce.storage();
for (UInt 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 (UInt n=0; n<nb_contact_nodes; ++n) {
if (gap(n) <= 0.) {
for (UInt 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 (UInt d=0; d<dim; ++d)
this->contact_pressure(n,d) = 0.;
this->is_in_contact(n) = false;
}
}
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void NTNBaseContact::applyContactPressure() {
AKANTU_DEBUG_IN();
UInt nb_contact_nodes = getNbContactNodes();
UInt dim = this->model.getSpatialDimension();
Array<Real> & residual = this->model.getResidual();
for (UInt n=0; n<nb_contact_nodes; ++n) {
UInt slave = this->slaves(n);
for (UInt 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);
}
}
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
Int NTNBaseContact::getNodeIndex(UInt node) const {
AKANTU_DEBUG_IN();
AKANTU_DEBUG_OUT();
return this->slaves.find(node);
}
/* -------------------------------------------------------------------------- */
void NTNBaseContact::printself(std::ostream & stream, int indent) const {
AKANTU_DEBUG_IN();
std::string space;
for(Int i = 0; i < indent; i++, space += AKANTU_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;
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void NTNBaseContact::syncArrays(SyncChoice sync_choice) {
AKANTU_DEBUG_IN();
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);
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void NTNBaseContact::addDumpFieldToDumper(const std::string & dumper_name,
const std::string & field_id) {
AKANTU_DEBUG_IN();
#ifdef AKANTU_USE_IOHELPER
const Array<UInt> & nodal_filter = this->slaves.getArray();
#define ADD_FIELD(field_id, field, type) \
internalAddDumpFieldToDumper(dumper_name, \
field_id, \
new DumperIOHelper::NodalField< type, true, \
Array<type>, \
Array<UInt> >(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 == "force") {
ADD_FIELD(field_id, this->model.getForce(), Real);
}
else if(field_id == "residual") {
ADD_FIELD(field_id, this->model.getResidual(), 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,
new DumperIOHelper::NodalField<Real>(this->normals.getArray()));
}
else if(field_id == "contact_pressure") {
internalAddDumpFieldToDumper(dumper_name,
field_id,
new DumperIOHelper::NodalField<Real>(this->contact_pressure.getArray()));
}
else if(field_id == "is_in_contact") {
internalAddDumpFieldToDumper(dumper_name,
field_id,
new DumperIOHelper::NodalField<bool>(this->is_in_contact.getArray()));
}
else if(field_id == "lumped_boundary_slave") {
internalAddDumpFieldToDumper(dumper_name,
field_id,
new DumperIOHelper::NodalField<Real>(this->lumped_boundary_slaves.getArray()));
}
else if(field_id == "impedance") {
internalAddDumpFieldToDumper(dumper_name,
field_id,
new DumperIOHelper::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
#endif
AKANTU_DEBUG_OUT();
}
__END_SIMTOOLS__
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