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rAKA/src/ntn_contact/friction_regularisations/ntn_fricreg_rubin_ampuero.cc
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ntn_fricreg_rubin_ampuero.cc
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/**
* @file ntn_fricreg_rubin_ampuero.cc
* @author David Kammer <david.kammer@epfl.ch>
* @date Mon Sep 2 10:25:58 2013
*
* @brief implementation of no regularisation
*
* @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_fricreg_rubin_ampuero.hh"
#include "dumper_text.hh"
__BEGIN_SIMTOOLS__
/* -------------------------------------------------------------------------- */
NTNFricRegRubinAmpuero::NTNFricRegRubinAmpuero(NTNBaseContact * contact,
const FrictionID & id,
const MemoryID & memory_id) :
NTNFricRegNoRegularisation(contact, id, memory_id),
t_star(0,1,0.,id+":t_star",0.,"t_star") {
AKANTU_DEBUG_IN();
NTNFricRegNoRegularisation::registerSynchronizedArray(this->t_star);
this->registerParam("t_star", this->t_star, _pat_parsmod, "time scale of regularization");
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
const SynchronizedArray<Real> & NTNFricRegRubinAmpuero::internalGetContactPressure() {
AKANTU_DEBUG_IN();
SolidMechanicsModel & model = this->contact->getModel();
UInt dim = model.getSpatialDimension();
Real delta_t = model.getTimeStep();
// get contact arrays
const SynchronizedArray<bool> & is_in_contact = this->internalGetIsInContact();
const Array<Real> & pressure = this->contact->getContactPressure().getArray();
Array<Real>::const_iterator< Vector<Real> > it = pressure.begin(dim);
UInt nb_contact_nodes = this->contact->getNbContactNodes();
for (UInt n=0; n<nb_contact_nodes; ++n) {
// node pair is NOT in contact
if (!is_in_contact(n))
this->frictional_contact_pressure(n) = 0.;
// if t_star is too small compute like Coulomb friction (without regularization)
else if (Math::are_float_equal(this->t_star(n), 0.)) {
const Vector<Real> & pres = it[n];
this->frictional_contact_pressure(n) = pres.norm();
}
else {
// compute frictional contact pressure
// backward euler method: first order implicit numerical integration method
// \reg_pres_n+1 = (\reg_pres_n + \delta_t / \t_star * \cur_pres)
// / (1 + \delta_t / \t_star)
Real alpha = delta_t / this->t_star(n);
const Vector<Real> & pres = it[n];
this->frictional_contact_pressure(n) += alpha * pres.norm();
this->frictional_contact_pressure(n) /= 1 + alpha;
}
}
AKANTU_DEBUG_OUT();
return this->frictional_contact_pressure;
}
/* -------------------------------------------------------------------------- */
void NTNFricRegRubinAmpuero::setToSteadyState() {
AKANTU_DEBUG_IN();
NTNFricRegNoRegularisation::computeFrictionalContactPressure();
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void NTNFricRegRubinAmpuero::registerSynchronizedArray(SynchronizedArrayBase & array) {
AKANTU_DEBUG_IN();
this->t_star.registerDependingArray(array);
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void NTNFricRegRubinAmpuero::dumpRestart(const std::string & file_name) const {
AKANTU_DEBUG_IN();
this->t_star.dumpRestartFile(file_name);
NTNFricRegNoRegularisation::dumpRestart(file_name);
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void NTNFricRegRubinAmpuero::readRestart(const std::string & file_name) {
AKANTU_DEBUG_IN();
this->t_star.readRestartFile(file_name);
NTNFricRegNoRegularisation::readRestart(file_name);
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void NTNFricRegRubinAmpuero::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 << "NTNFricRegRubinAmpuero [" << std::endl;
NTNFricRegNoRegularisation::printself(stream, ++indent);
stream << space << "]" << std::endl;
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void NTNFricRegRubinAmpuero::addDumpFieldToDumper(const std::string & dumper_name,
const std::string & field_id) {
AKANTU_DEBUG_IN();
#ifdef AKANTU_USE_IOHELPER
// const SynchronizedArray<UInt> * nodal_filter = &(this->contact->getSlaves());
if (field_id == "t_star") {
this->internalAddDumpFieldToDumper(dumper_name,
field_id,
new DumperIOHelper::NodalField<Real>(this->t_star.getArray()));
}
else {
NTNFricRegNoRegularisation::addDumpFieldToDumper(dumper_name, field_id);
}
#endif
AKANTU_DEBUG_OUT();
}
__END_SIMTOOLS__
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