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rAKA akantu
resolution.cc
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/**
* @file resolution.cc
*
* @author Mohit Pundir <mohit.pundir@epfl.ch>
*
* @date creation: Mon Jan 7 2019
* @date last modification: Mon Jan 7 2019
*
* @brief Implementation of common part of the contact resolution class
*
* @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.hh"
#include "contact_mechanics_model.hh"
#include "sparse_matrix.hh"
/* -------------------------------------------------------------------------- */
namespace
akantu
{
/* -------------------------------------------------------------------------- */
Resolution
::
Resolution
(
ContactMechanicsModel
&
model
,
const
ID
&
id
)
:
Memory
(
id
,
model
.
getMemoryID
()),
Parsable
(
ParserType
::
_contact_resolution
,
id
),
fem
(
model
.
getFEEngine
()),
name
(
""
),
model
(
model
)
{
AKANTU_DEBUG_IN
();
spatial_dimension
=
model
.
getMesh
().
getSpatialDimension
();
this
->
initialize
();
AKANTU_DEBUG_OUT
();
}
/* -------------------------------------------------------------------------- */
Resolution
::~
Resolution
()
=
default
;
/* -------------------------------------------------------------------------- */
void
Resolution
::
initialize
()
{
registerParam
(
"name"
,
name
,
std
::
string
(),
_pat_parsable
|
_pat_readable
);
registerParam
(
"mu"
,
mu
,
Real
(
0.
),
_pat_parsable
|
_pat_modifiable
,
"Friciton Coefficient"
);
registerParam
(
"is_master_deformable"
,
is_master_deformable
,
bool
(
false
),
_pat_parsable
|
_pat_readable
,
"Is master surface deformable"
);
}
/* -------------------------------------------------------------------------- */
void
Resolution
::
printself
(
std
::
ostream
&
stream
,
int
indent
)
const
{
std
::
string
space
;
for
(
Int
i
=
0
;
i
<
indent
;
i
++
,
space
+=
AKANTU_INDENT
)
;
std
::
string
type
=
getID
().
substr
(
getID
().
find_last_of
(
':'
)
+
1
);
stream
<<
space
<<
"Contact Resolution "
<<
type
<<
" ["
<<
std
::
endl
;
Parsable
::
printself
(
stream
,
indent
);
stream
<<
space
<<
"]"
<<
std
::
endl
;
}
/* -------------------------------------------------------------------------- */
void
Resolution
::
assembleInternalForces
(
GhostType
/*ghost_type*/
)
{
AKANTU_DEBUG_IN
();
this
->
assembleInternalForces
();
AKANTU_DEBUG_OUT
();
}
/* -------------------------------------------------------------------------- */
void
Resolution
::
assembleInternalForces
()
{
AKANTU_DEBUG_IN
();
for
(
auto
&
element
:
model
.
getContactElements
())
{
auto
nb_nodes
=
element
.
getNbNodes
();
Vector
<
Real
>
local_fn
(
nb_nodes
*
spatial_dimension
);
computeNormalForce
(
element
,
local_fn
);
Vector
<
Real
>
local_ft
(
nb_nodes
*
spatial_dimension
);
computeTangentialForce
(
element
,
local_ft
);
Vector
<
Real
>
local_fc
(
nb_nodes
*
spatial_dimension
);
local_fc
=
local_fn
+
local_ft
;
assembleLocalToGlobalArray
(
element
,
local_fn
,
model
.
getNormalForce
());
assembleLocalToGlobalArray
(
element
,
local_ft
,
model
.
getTangentialForce
());
assembleLocalToGlobalArray
(
element
,
local_fc
,
model
.
getInternalForce
());
}
AKANTU_DEBUG_OUT
();
}
/* -------------------------------------------------------------------------- */
void
Resolution
::
assembleLocalToGlobalArray
(
const
ContactElement
&
element
,
Vector
<
Real
>
&
local
,
Array
<
Real
>
&
global
)
{
auto
get_connectivity
=
[
&
](
auto
&
slave
,
auto
&
master
)
{
Vector
<
UInt
>
master_conn
=
const_cast
<
const
Mesh
&>
(
model
.
getMesh
()).
getConnectivity
(
master
);
Vector
<
UInt
>
elem_conn
(
master_conn
.
size
()
+
1
);
elem_conn
[
0
]
=
slave
;
for
(
UInt
i
=
1
;
i
<
elem_conn
.
size
();
++
i
)
{
elem_conn
[
i
]
=
master_conn
[
i
-
1
];
}
return
elem_conn
;
};
auto
connectivity
=
get_connectivity
(
element
.
slave
,
element
.
master
);
UInt
nb_dofs
=
global
.
getNbComponent
();
UInt
nb_nodes
=
is_master_deformable
?
connectivity
.
size
()
:
1
;
auto
&
nodal_area
=
const_cast
<
Array
<
Real
>
&>
(
model
.
getNodalArea
());
for
(
UInt
i
:
arange
(
nb_nodes
))
{
UInt
n
=
connectivity
[
i
];
for
(
UInt
j
:
arange
(
nb_dofs
))
{
UInt
offset_node
=
n
*
nb_dofs
+
j
;
global
[
offset_node
]
+=
local
[
i
*
nb_dofs
+
j
]
*
nodal_area
[
element
.
slave
];
}
}
}
/* -------------------------------------------------------------------------- */
void
Resolution
::
assembleStiffnessMatrix
(
GhostType
/*ghost_type*/
)
{
AKANTU_DEBUG_IN
();
auto
&
global_stiffness
=
const_cast
<
SparseMatrix
&>
(
model
.
getDOFManager
().
getMatrix
(
"K"
));
auto
&
gaps
=
model
.
getGaps
();
auto
&
projections
=
model
.
getProjections
();
auto
&
normals
=
model
.
getNormals
();
UInt
surface_dimension
=
spatial_dimension
-
1
;
for
(
auto
&
element
:
model
.
getContactElements
())
{
auto
nb_nodes
=
element
.
getNbNodes
();
Real
gap
(
gaps
.
begin
()[
element
.
slave
]);
Vector
<
Real
>
normal
(
normals
.
begin
(
spatial_dimension
)[
element
.
slave
]);
Vector
<
Real
>
projection
(
projections
.
begin
(
surface_dimension
)[
element
.
slave
]);
Matrix
<
Real
>
covariant_basis
(
surface_dimension
,
spatial_dimension
);
GeometryUtils
::
covariantBasis
(
model
.
getMesh
(),
model
.
getContactDetector
().
getPositions
(),
element
.
master
,
normal
,
projection
,
covariant_basis
);
Vector
<
Real
>
delta_g
(
nb_nodes
*
spatial_dimension
);
ResolutionUtils
::
firstVariationNormalGap
(
element
,
projection
,
normal
,
delta_g
);
Matrix
<
Real
>
curvature
(
spatial_dimension
,
surface_dimension
*
surface_dimension
);
GeometryUtils
::
curvature
(
model
.
getMesh
(),
model
.
getContactDetector
().
getPositions
(),
element
.
master
,
projection
,
curvature
);
Matrix
<
Real
>
ddelta_g
(
nb_nodes
*
spatial_dimension
,
nb_nodes
*
spatial_dimension
);
ResolutionUtils
::
secondVariationNormalGap
(
element
,
covariant_basis
,
curvature
,
projection
,
normal
,
gap
,
ddelta_g
);
Matrix
<
Real
>
local_kn
(
nb_nodes
*
spatial_dimension
,
nb_nodes
*
spatial_dimension
);
computeNormalModuli
(
element
,
ddelta_g
,
delta_g
,
local_kn
);
assembleLocalToGlobalMatrix
(
element
,
local_kn
,
global_stiffness
);
Matrix
<
Real
>
local_kt
(
nb_nodes
*
spatial_dimension
,
nb_nodes
*
spatial_dimension
);
computeTangentialModuli
(
element
,
ddelta_g
,
delta_g
,
local_kt
);
assembleLocalToGlobalMatrix
(
element
,
local_kt
,
global_stiffness
);
}
AKANTU_DEBUG_OUT
();
}
/* -------------------------------------------------------------------------- */
void
Resolution
::
assembleLocalToGlobalMatrix
(
const
ContactElement
&
element
,
const
Matrix
<
Real
>
&
local
,
SparseMatrix
&
global
)
{
auto
get_connectivity
=
[
&
](
auto
&
slave
,
auto
&
master
)
{
Vector
<
UInt
>
master_conn
=
const_cast
<
const
Mesh
&>
(
model
.
getMesh
()).
getConnectivity
(
master
);
Vector
<
UInt
>
elem_conn
(
master_conn
.
size
()
+
1
);
elem_conn
[
0
]
=
slave
;
for
(
UInt
i
=
1
;
i
<
elem_conn
.
size
();
++
i
)
{
elem_conn
[
i
]
=
master_conn
[
i
-
1
];
}
return
elem_conn
;
};
auto
connectivity
=
get_connectivity
(
element
.
slave
,
element
.
master
);
auto
nb_dofs
=
spatial_dimension
;
UInt
nb_nodes
=
is_master_deformable
?
connectivity
.
size
()
:
1
;
UInt
total_nb_dofs
=
nb_dofs
*
nb_nodes
;
std
::
vector
<
UInt
>
equations
;
for
(
UInt
i
:
arange
(
connectivity
.
size
()))
{
UInt
conn
=
connectivity
[
i
];
for
(
UInt
j
:
arange
(
nb_dofs
))
{
equations
.
push_back
(
conn
*
nb_dofs
+
j
);
}
}
for
(
UInt
i
:
arange
(
total_nb_dofs
))
{
UInt
row
=
equations
[
i
];
for
(
UInt
j
:
arange
(
total_nb_dofs
))
{
UInt
col
=
equations
[
j
];
global
.
add
(
row
,
col
,
local
(
i
,
j
));
}
}
}
}
// namespace akantu
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