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ntn_base_contact.cc
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			/**
			* @file ntn_base_contact.cc
			*
			* @author David Simon Kammer <david.kammer@epfl.ch>
			*
			*
			* @brief implementation of ntn base contact
			*
			* @section LICENSE
			*
			* Copyright (©) 2010-2012, 2014 EPFL (Ecole Polytechnique Fédérale de Lausanne)
			* Laboratory (LSMS - Laboratoire de Simulation en Mécanique des Solides)
			*
			*/

			/* -------------------------------------------------------------------------- */
			// simtools
			#include "ntn_base_contact.hh"
			#include "dumpable_inline_impl.hh"
			#include "dumper_text.hh"
			#include "dumper_nodal_field.hh"

			__BEGIN_AKANTU__

			/* -------------------------------------------------------------------------- */
			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 != UInt(-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());

			// 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 dumper::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 dumper::NodalField<Real>(this->normals.getArray()));
			}
			else if(field_id == "contact_pressure") {
			internalAddDumpFieldToDumper(dumper_name,
			field_id,
			new dumper::NodalField<Real>(this->contact_pressure.getArray()));
			}
			else if(field_id == "is_in_contact") {
			internalAddDumpFieldToDumper(dumper_name,
			field_id,
			new dumper::NodalField<bool>(this->is_in_contact.getArray()));
			}
			else if(field_id == "lumped_boundary_slave") {
			internalAddDumpFieldToDumper(dumper_name,
			field_id,
			new dumper::NodalField<Real>(this->lumped_boundary_slaves.getArray()));
			}
			else if(field_id == "impedance") {
			internalAddDumpFieldToDumper(dumper_name,
			field_id,
			new dumper::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_AKANTU__

rAKA/extra_packages/traction-at-split-node-contact/src/ntn_contact/ntn_base_contact.ccc0c8a529b89dfeatures/cleaning-dead…

ntn_base_contact.ccView Options

rAKA/extra_packages/traction-at-split-node-contact/src/ntn_contact/ntn_base_contact.cc
c0c8a529b89dfeatures/cleaning-dead…

ntn_base_contact.cc
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