structural_mechanics_model.cc
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Created: Mon, Nov 4, 12:32

structural_mechanics_model.cc
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	/**
	* @file structural_mechanics_model.cc
	*
	* @author Fabian Barras <fabian.barras@epfl.ch>
	* @author Lucas Frerot <lucas.frerot@epfl.ch>
	* @author Sébastien Hartmann <sebastien.hartmann@epfl.ch>
	* @author Nicolas Richart <nicolas.richart@epfl.ch>
	* @author Damien Spielmann <damien.spielmann@epfl.ch>
	*
	* @date creation: Fri Jul 15 2011
	* @date last modification: Wed Feb 21 2018
	*
	* @brief Model implementation for Structural Mechanics elements
	*
	*
	* 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 "structural_mechanics_model.hh"
	#include "dof_manager.hh"
	#include "integrator_gauss.hh"
	#include "mesh.hh"
	#include "shape_structural.hh"
	#include "sparse_matrix.hh"
	#include "time_step_solver.hh"
	/* -------------------------------------------------------------------------- */
	#ifdef AKANTU_USE_IOHELPER
	#include "dumpable_inline_impl.hh"
	#include "dumper_elemental_field.hh"
	#include "dumper_iohelper_paraview.hh"
	#include "group_manager_inline_impl.hh"
	#endif
	/* -------------------------------------------------------------------------- */
	#include "structural_element_bernoulli_beam_2.hh"
	#include "structural_element_bernoulli_beam_3.hh"
	#include "structural_element_kirchhoff_shell.hh"
	/* -------------------------------------------------------------------------- */
	//#include "structural_mechanics_model_inline_impl.hh"
	/* -------------------------------------------------------------------------- */

	namespace akantu {

	/* -------------------------------------------------------------------------- */
	inline UInt
	StructuralMechanicsModel::getNbDegreeOfFreedom(ElementType type) {
	UInt ndof = 0;
	#define GET_(type) ndof = ElementClass<type>::getNbDegreeOfFreedom()
	AKANTU_BOOST_KIND_ELEMENT_SWITCH(GET_, _ek_structural);
	#undef GET_

	return ndof;
	}

	/* -------------------------------------------------------------------------- */
	StructuralMechanicsModel::StructuralMechanicsModel(Mesh & mesh, UInt dim,
	const ID & id,
	const MemoryID & memory_id)
	: Model(mesh, ModelType::_structural_mechanics_model, dim, id, memory_id),
	time_step(NAN), f_m2a(1.0), stress("stress", id, memory_id),
	element_material("element_material", id, memory_id),
	set_ID("beam sets", id, memory_id),
	rotation_matrix("rotation_matices", id, memory_id) {
	AKANTU_DEBUG_IN();

	registerFEEngineObject<MyFEEngineType>("StructuralMechanicsFEEngine", mesh,
	spatial_dimension);

	if (spatial_dimension == 2) {
	nb_degree_of_freedom = 3;
	} else if (spatial_dimension == 3) {
	nb_degree_of_freedom = 6;
	} else {
	AKANTU_TO_IMPLEMENT();
	}

	#ifdef AKANTU_USE_IOHELPER
	this->mesh.registerDumper<DumperParaview>("structural_mechanics_model", id,
	true);
	#endif
	this->mesh.addDumpMesh(mesh, spatial_dimension, _not_ghost, _ek_structural);

	this->initDOFManager();

	AKANTU_DEBUG_OUT();
	}

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

	/* -------------------------------------------------------------------------- */
	void StructuralMechanicsModel::initFullImpl(const ModelOptions & options) {
	// <<<< This is the SolidMechanicsModel implementation for future ref >>>>
	// material_index.initialize(mesh, _element_kind = _ek_not_defined,
	// _default_value = UInt(-1), _with_nb_element =
	// true);
	// material_local_numbering.initialize(mesh, _element_kind = _ek_not_defined,
	// _with_nb_element = true);

	// Model::initFullImpl(options);

	// // initialize pbc
	// if (this->pbc_pair.size() != 0)
	// this->initPBC();

	// // initialize the materials
	// if (this->parser.getLastParsedFile() != "") {
	// this->instantiateMaterials();
	// }

	// this->initMaterials();
	// this->initBC(this, displacement, *displacement_increment,
	// *external_force);

	// <<<< END >>>>

	Model::initFullImpl(options);

	// Initializing stresses
	ElementTypeMap<UInt> stress_components;

	/// TODO this is ugly af, maybe add a function to FEEngine
	for (auto && type : mesh.elementTypes(_spatial_dimension = _all_dimensions,
	_element_kind = _ek_structural)) {
	UInt nb_components = 0;

	// Getting number of components for each element type
	#define GET_(type) nb_components = ElementClass<type>::getNbStressComponents()
	AKANTU_BOOST_STRUCTURAL_ELEMENT_SWITCH(GET_);
	#undef GET_

	stress_components(nb_components, type);
	}

	stress.initialize(
	getFEEngine(), _spatial_dimension = _all_dimensions,
	_element_kind = _ek_structural,
	_nb_component = [&stress_components](ElementType type,
	GhostType /unused/) -> UInt {
	return stress_components(type);
	});
	}

	/* -------------------------------------------------------------------------- */

	void StructuralMechanicsModel::initFEEngineBoundary() {
	/// TODO: this function should not be reimplemented
	/// we're just avoiding a call to Model::initFEEngineBoundary()
	}

	/* -------------------------------------------------------------------------- */
	// void StructuralMechanicsModel::setTimeStep(Real time_step) {
	// this->time_step = time_step;

	// #if defined(AKANTU_USE_IOHELPER)
	// this->mesh.getDumper().setTimeStep(time_step);
	// #endif
	// }

	/* -------------------------------------------------------------------------- */
	/* Initialisation */
	/* -------------------------------------------------------------------------- */
	void StructuralMechanicsModel::initSolver(
	TimeStepSolverType time_step_solver_type, NonLinearSolverType /unused/) {
	AKANTU_DEBUG_IN();

	this->allocNodalField(displacement_rotation, nb_degree_of_freedom,
	"displacement");
	this->allocNodalField(external_force, nb_degree_of_freedom, "external_force");
	this->allocNodalField(internal_force, nb_degree_of_freedom, "internal_force");
	this->allocNodalField(blocked_dofs, nb_degree_of_freedom, "blocked_dofs");

	auto & dof_manager = this->getDOFManager();

	if (!dof_manager.hasDOFs("displacement")) {
	dof_manager.registerDOFs("displacement", *displacement_rotation,
	_dst_nodal);
	dof_manager.registerBlockedDOFs("displacement", *this->blocked_dofs);
	}

	if (time_step_solver_type == TimeStepSolverType::_dynamic \|\|
	time_step_solver_type == TimeStepSolverType::_dynamic_lumped) {
	this->allocNodalField(velocity, spatial_dimension, "velocity");
	this->allocNodalField(acceleration, spatial_dimension, "acceleration");

	if (!dof_manager.hasDOFsDerivatives("displacement", 1)) {
	dof_manager.registerDOFsDerivative("displacement", 1, *this->velocity);
	dof_manager.registerDOFsDerivative("displacement", 2,
	*this->acceleration);
	}
	}

	AKANTU_DEBUG_OUT();
	}

	/* -------------------------------------------------------------------------- */
	void StructuralMechanicsModel::initModel() {
	for (auto && type : mesh.elementTypes(_element_kind = _ek_structural)) {
	// computeRotationMatrix(type);
	element_material.alloc(mesh.getNbElement(type), 1, type);
	}

	getFEEngine().initShapeFunctions(_not_ghost);
	getFEEngine().initShapeFunctions(_ghost);
	}

	/* -------------------------------------------------------------------------- */
	void StructuralMechanicsModel::assembleStiffnessMatrix() {
	AKANTU_DEBUG_IN();

	getDOFManager().getMatrix("K").zero();

	for (const auto & type :
	mesh.elementTypes(spatial_dimension, _not_ghost, _ek_structural)) {
	#define ASSEMBLE_STIFFNESS_MATRIX(type) assembleStiffnessMatrix<type>();

	AKANTU_BOOST_STRUCTURAL_ELEMENT_SWITCH(ASSEMBLE_STIFFNESS_MATRIX);
	#undef ASSEMBLE_STIFFNESS_MATRIX
	}

	AKANTU_DEBUG_OUT();
	}

	/* -------------------------------------------------------------------------- */
	void StructuralMechanicsModel::computeStresses() {
	AKANTU_DEBUG_IN();

	for (const auto & type :
	mesh.elementTypes(spatial_dimension, _not_ghost, _ek_structural)) {
	#define COMPUTE_STRESS_ON_QUAD(type) computeStressOnQuad<type>();

	AKANTU_BOOST_STRUCTURAL_ELEMENT_SWITCH(COMPUTE_STRESS_ON_QUAD);
	#undef COMPUTE_STRESS_ON_QUAD
	}

	AKANTU_DEBUG_OUT();
	}

	/* -------------------------------------------------------------------------- */
	void StructuralMechanicsModel::computeRotationMatrix(ElementType type) {
	Mesh & mesh = getFEEngine().getMesh();

	UInt nb_nodes_per_element = Mesh::getNbNodesPerElement(type);
	UInt nb_element = mesh.getNbElement(type);

	if (!rotation_matrix.exists(type)) {
	rotation_matrix.alloc(nb_element,
	nb_degree_of_freedom * nb_nodes_per_element *
	nb_degree_of_freedom * nb_nodes_per_element,
	type);
	} else {
	rotation_matrix(type).resize(nb_element);
	}
	rotation_matrix(type).zero();

	Array<Real> rotations(nb_element,
	nb_degree_of_freedom * nb_degree_of_freedom);
	rotations.zero();

	#define COMPUTE_ROTATION_MATRIX(type) computeRotationMatrix<type>(rotations);

	AKANTU_BOOST_STRUCTURAL_ELEMENT_SWITCH(COMPUTE_ROTATION_MATRIX);
	#undef COMPUTE_ROTATION_MATRIX

	auto R_it = rotations.begin(nb_degree_of_freedom, nb_degree_of_freedom);
	auto T_it =
	rotation_matrix(type).begin(nb_degree_of_freedom * nb_nodes_per_element,
	nb_degree_of_freedom * nb_nodes_per_element);

	for (UInt el = 0; el < nb_element; ++el, ++R_it, ++T_it) {
	auto & T = *T_it;
	auto & R = *R_it;
	for (UInt k = 0; k < nb_nodes_per_element; ++k) {
	for (UInt i = 0; i < nb_degree_of_freedom; ++i) {
	for (UInt j = 0; j < nb_degree_of_freedom; ++j) {
	T(k * nb_degree_of_freedom + i, k * nb_degree_of_freedom + j) =
	R(i, j);
	}
	}
	}
	}
	}

	/* -------------------------------------------------------------------------- */
	std::shared_ptr<dumpers::Field> StructuralMechanicsModel::createNodalFieldBool(
	const std::string & field_name, const std::string & group_name,
	__attribute__((unused)) bool padding_flag) {

	std::map<std::string, Array<bool> *> uint_nodal_fields;
	uint_nodal_fields["blocked_dofs"] = blocked_dofs;

	return mesh.createNodalField(uint_nodal_fields[field_name], group_name);
	}

	/* -------------------------------------------------------------------------- */
	std::shared_ptr<dumpers::Field>
	StructuralMechanicsModel::createNodalFieldReal(const std::string & field_name,
	const std::string & group_name,
	bool padding_flag) {

	UInt n;
	if (spatial_dimension == 2) {
	n = 2;
	} else {
	n = 3;
	}

	UInt padding_size = 0;
	if (padding_flag) {
	padding_size = 3;
	}

	if (field_name == "displacement") {
	return mesh.createStridedNodalField(displacement_rotation, group_name, n, 0,
	padding_size);
	}

	if (field_name == "rotation") {
	return mesh.createStridedNodalField(displacement_rotation, group_name,
	nb_degree_of_freedom - n, n,
	padding_size);
	}

	if (field_name == "force") {
	return mesh.createStridedNodalField(external_force, group_name, n, 0,
	padding_size);
	}

	if (field_name == "momentum") {
	return mesh.createStridedNodalField(
	external_force, group_name, nb_degree_of_freedom - n, n, padding_size);
	}

	if (field_name == "internal_force") {
	return mesh.createStridedNodalField(internal_force, group_name, n, 0,
	padding_size);
	}

	if (field_name == "internal_momentum") {
	return mesh.createStridedNodalField(
	internal_force, group_name, nb_degree_of_freedom - n, n, padding_size);
	}

	return nullptr;
	}

	/* -------------------------------------------------------------------------- */
	std::shared_ptr<dumpers::Field> StructuralMechanicsModel::createElementalField(
	const std::string & field_name, const std::string & group_name, bool /unused/,
	UInt spatial_dimension, ElementKind kind) {

	std::shared_ptr<dumpers::Field> field;

	if (field_name == "element_index_by_material") {
	field = mesh.createElementalField<UInt, Vector, dumpers::ElementalField>(
	field_name, group_name, spatial_dimension, kind);
	}
	return field;
	}

	/* -------------------------------------------------------------------------- */
	/* Virtual methods from SolverCallback */
	/* -------------------------------------------------------------------------- */
	/// get the type of matrix needed
	MatrixType StructuralMechanicsModel::getMatrixType(const ID & /id/) {
	return _symmetric;
	}

	/// callback to assemble a Matrix
	void StructuralMechanicsModel::assembleMatrix(const ID & id) {
	if (id == "K") {
	assembleStiffnessMatrix();
	}
	}

	/// callback to assemble a lumped Matrix
	void StructuralMechanicsModel::assembleLumpedMatrix(const ID & /id/) {}

	/// callback to assemble the residual StructuralMechanicsModel::(rhs)
	void StructuralMechanicsModel::assembleResidual() {
	AKANTU_DEBUG_IN();

	auto & dof_manager = getDOFManager();

	internal_force->zero();
	computeStresses();
	assembleInternalForce();
	dof_manager.assembleToResidual("displacement", *internal_force, -1);
	dof_manager.assembleToResidual("displacement", *external_force, 1);

	AKANTU_DEBUG_OUT();
	}

	/* -------------------------------------------------------------------------- */
	/* Virtual methods from Model */
	/* -------------------------------------------------------------------------- */
	/// get some default values for derived classes
	std::tuple<ID, TimeStepSolverType>
	StructuralMechanicsModel::getDefaultSolverID(const AnalysisMethod & method) {
	switch (method) {
	case _static: {
	return std::make_tuple("static", TimeStepSolverType::_static);
	}
	case _implicit_dynamic: {
	return std::make_tuple("implicit", TimeStepSolverType::_dynamic);
	}
	default:
	return std::make_tuple("unknown", TimeStepSolverType::_not_defined);
	}
	}

	/* ------------------------------------------------------------------------ */
	ModelSolverOptions StructuralMechanicsModel::getDefaultSolverOptions(
	const TimeStepSolverType & type) const {
	ModelSolverOptions options;

	switch (type) {
	case TimeStepSolverType::_static: {
	options.non_linear_solver_type = NonLinearSolverType::_linear;
	options.integration_scheme_type["displacement"] =
	IntegrationSchemeType::_pseudo_time;
	options.solution_type["displacement"] = IntegrationScheme::_not_defined;
	break;
	}
	default:
	AKANTU_EXCEPTION(type << " is not a valid time step solver type");
	}

	return options;
	}

	/* -------------------------------------------------------------------------- */
	void StructuralMechanicsModel::assembleInternalForce() {
	for (auto type : mesh.elementTypes(_spatial_dimension = _all_dimensions,
	_element_kind = _ek_structural)) {
	assembleInternalForce(type, _not_ghost);
	// assembleInternalForce(type, _ghost);
	}
	}

	/* -------------------------------------------------------------------------- */
	void StructuralMechanicsModel::assembleInternalForce(ElementType type,
	GhostType gt) {
	auto & fem = getFEEngine();
	auto & sigma = stress(type, gt);
	auto ndof = getNbDegreeOfFreedom(type);
	auto nb_nodes = mesh.getNbNodesPerElement(type);
	auto ndof_per_elem = ndof * nb_nodes;

	Array<Real> BtSigma(fem.getNbIntegrationPoints(type) *
	mesh.getNbElement(type),
	ndof_per_elem, "BtSigma");
	fem.computeBtD(sigma, BtSigma, type, gt);

	Array<Real> intBtSigma(0, ndof_per_elem, "intBtSigma");
	fem.integrate(BtSigma, intBtSigma, ndof_per_elem, type, gt);
	BtSigma.resize(0);

	getDOFManager().assembleElementalArrayLocalArray(intBtSigma, *internal_force,
	type, gt, 1);
	}
	/* -------------------------------------------------------------------------- */

	} // namespace akantu

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