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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: Mon Mar 15 2021
			*
			* @brief Model implementation for Structural Mechanics elements
			*
			*
			* @section LICENSE
			*
			* Copyright (©) 2010-2021 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"
			/* -------------------------------------------------------------------------- */
			#include "dumpable_inline_impl.hh"
			#include "dumper_elemental_field.hh"
			#include "dumper_internal_material_field.hh"
			#include "dumper_iohelper_paraview.hh"
			#include "group_manager_inline_impl.hh"
			/* -------------------------------------------------------------------------- */
			#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)
			: Model(mesh, ModelType::_structural_mechanics_model, dim, id), f_m2a(1.0),
			stress("stress", id), element_material("element_material", id),
			set_ID("beam sets", 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();
			}

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

			this->initDOFManager();

			this->dumper_default_element_kind = _ek_structural;

			mesh.getElementalData<Real>("extra_normal")
			.initialize(mesh, _element_kind = _ek_structural,
			_nb_component = spatial_dimension, _with_nb_element = true,
			_default_value = 0.);

			AKANTU_DEBUG_OUT();
			}

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

			/* -------------------------------------------------------------------------- */
			void StructuralMechanicsModel::initFullImpl(const ModelOptions & options) {
			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,
			const ID & solver_id) {
			Model::setTimeStep(time_step, solver_id);
			this->mesh.getDumper().setTimeStep(time_step);
			}

			/* -------------------------------------------------------------------------- */
			/* 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 (not 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, nb_degree_of_freedom, "velocity");
			this->allocNodalField(acceleration, nb_degree_of_freedom, "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() {
			element_material.initialize(mesh, _element_kind = _ek_structural,
			_default_value = 0, _with_nb_element = true);

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

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

			if (not need_to_reassemble_stiffness) {
			return;
			}

			if (not getDOFManager().hasMatrix("K")) {
			getDOFManager().getNewMatrix("K", getMatrixType("K"));
			}

			this->getDOFManager().zeroMatrix("K");

			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
			}

			need_to_reassemble_stiffness = false;

			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();
			}

			/* -------------------------------------------------------------------------- */
			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.get();

			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.get(), group_name,
			n, 0, padding_size);
			}

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

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

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

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

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

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

			if (field_name == "internal_momentum") {
			return mesh.createStridedNodalField(internal_force.get(), 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);
			}
			if (field_name == "stress") {
			ElementTypeMap<UInt> nb_data_per_elem = this->mesh.getNbDataPerElem(stress);

			field = mesh.createElementalField<Real, dumpers::InternalMaterialField>(
			stress, group_name, this->spatial_dimension, kind, nb_data_per_elem);
			}

			return field;
			}

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

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

			/// 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();

			assembleInternalForce();

			//Ensures that the matrix are assembled.
			if(dof_manager.hasMatrix("K")) {
			this->assembleMatrix("K");
			}
			if(dof_manager.hasMatrix("M")) {
			this->assembleMatrix("M");
			}

			dof_manager.assembleToResidual("displacement", *external_force, 1);
			dof_manager.assembleToResidual("displacement", *internal_force, 1);

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			void StructuralMechanicsModel::assembleResidual(const ID & residual_part) {
			AKANTU_DEBUG_IN();

			auto & dof_manager = this->getDOFManager();

			//Ensures that the matrix are assembled.
			if(dof_manager.hasMatrix("K")) {
			this->assembleMatrix("K");
			}
			if(dof_manager.hasMatrix("M")) {
			this->assembleMatrix("M");
			}

			if ("external" == residual_part) {
			dof_manager.assembleToResidual("displacement",
			*this->external_force, 1);
			AKANTU_DEBUG_OUT();
			return;
			}

			if ("internal" == residual_part) {
			this->assembleInternalForce();
			dof_manager.assembleToResidual("displacement",
			*this->internal_force, 1);
			AKANTU_DEBUG_OUT();
			return;
			}

			AKANTU_CUSTOM_EXCEPTION(
			debug::SolverCallbackResidualPartUnknown(residual_part));

			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::_newton_raphson;
			options.integration_scheme_type["displacement"] =
			IntegrationSchemeType::_pseudo_time;
			options.solution_type["displacement"] = IntegrationScheme::_not_defined;
			break;
			}
			case TimeStepSolverType::_dynamic: {
			options.non_linear_solver_type = NonLinearSolverType::_newton_raphson;
			options.integration_scheme_type["displacement"] =
			IntegrationSchemeType::_trapezoidal_rule_2;
			options.solution_type["displacement"] = IntegrationScheme::_displacement;
			break;
			}
			default:
			AKANTU_EXCEPTION(type << " is not a valid time step solver type");
			}

			return options;
			}

			/* -------------------------------------------------------------------------- */
			void StructuralMechanicsModel::assembleInternalForce() {
			internal_force->zero();
			computeStresses();

			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);

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

			/* -------------------------------------------------------------------------- */
			Real StructuralMechanicsModel::getKineticEnergy() {
			if (not this->getDOFManager().hasMatrix("M")) {
			return 0.;
			}

			//if mass matrix was not assembled, assemble it now
			// Alternative, generate an error.
			if(this->need_to_reassemble_mass) {
			this->assembleMassMatrix();
			}

			Real ekin = 0.;
			UInt nb_nodes = mesh.getNbNodes();

			Array<Real> Mv(nb_nodes, nb_degree_of_freedom);
			this->getDOFManager().assembleMatMulVectToArray("displacement", "M",
			*this->velocity, Mv);

			for (auto && data : zip(arange(nb_nodes), make_view(Mv, nb_degree_of_freedom),
			make_view(*this->velocity, nb_degree_of_freedom))) {
			ekin += std::get<2>(data).dot(std::get<1>(data)) *
			static_cast<Real>(mesh.isLocalOrMasterNode(std::get<0>(data)));
			}

			mesh.getCommunicator().allReduce(ekin, SynchronizerOperation::_sum);

			return ekin / 2.;
			}

			/* -------------------------------------------------------------------------- */
			Real StructuralMechanicsModel::getPotentialEnergy() {
			Real epot = 0.;
			UInt nb_nodes = mesh.getNbNodes();

			//if stiffness matrix is not assembled, do it
			// as an alternative, gernate an error.
			if(this->need_to_reassemble_stiffness) {
			this->assembleStiffnessMatrix();
			};

			Array<Real> Ku(nb_nodes, nb_degree_of_freedom);
			this->getDOFManager().assembleMatMulVectToArray(
			"displacement", "K", *this->displacement_rotation, Ku);

			for (auto && data :
			zip(arange(nb_nodes), make_view(Ku, nb_degree_of_freedom),
			make_view(*this->displacement_rotation, nb_degree_of_freedom))) {
			epot += std::get<2>(data).dot(std::get<1>(data)) *
			static_cast<Real>(mesh.isLocalOrMasterNode(std::get<0>(data)));
			}

			mesh.getCommunicator().allReduce(epot, SynchronizerOperation::_sum);

			return epot / 2.;
			}

			/* -------------------------------------------------------------------------- */
			Real StructuralMechanicsModel::getEnergy(const ID & energy) {
			if (energy == "kinetic") {
			return getKineticEnergy();
			}

			if (energy == "potential") {
			return getPotentialEnergy();
			}

			return 0;
			}

			/* -------------------------------------------------------------------------- */
			void StructuralMechanicsModel::computeForcesByLocalTractionArray(
			const Array<Real> & tractions, ElementType type) {
			AKANTU_DEBUG_IN();

			auto nb_element = getFEEngine().getMesh().getNbElement(type);
			auto nb_nodes_per_element =
			getFEEngine().getMesh().getNbNodesPerElement(type);
			auto nb_quad = getFEEngine().getNbIntegrationPoints(type);

			// check dimension match
			AKANTU_DEBUG_ASSERT(
			Mesh::getSpatialDimension(type) == getFEEngine().getElementDimension(),
			"element type dimension does not match the dimension of boundaries : "
			<< getFEEngine().getElementDimension()
			<< " != " << Mesh::getSpatialDimension(type));

			// check size of the vector
			AKANTU_DEBUG_ASSERT(
			tractions.size() == nb_quad * nb_element,
			"the size of the vector should be the total number of quadrature points");

			// check number of components
			AKANTU_DEBUG_ASSERT(tractions.getNbComponent() == nb_degree_of_freedom,
			"the number of components should be the spatial "
			"dimension of the problem");

			Array<Real> Ntbs(nb_element * nb_quad,
			nb_degree_of_freedom * nb_nodes_per_element);

			auto & fem = getFEEngine();
			fem.computeNtb(tractions, Ntbs, type);

			// allocate the vector that will contain the integrated values
			auto name = id + std::to_string(type) + ":integral_boundary";
			Array<Real> int_funct(nb_element, nb_degree_of_freedom * nb_nodes_per_element,
			name);

			// do the integration
			getFEEngine().integrate(Ntbs, int_funct,
			nb_degree_of_freedom * nb_nodes_per_element, type);

			// assemble the result into force vector
			getDOFManager().assembleElementalArrayLocalArray(int_funct, *external_force,
			type, _not_ghost, 1);

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			void StructuralMechanicsModel::computeForcesByGlobalTractionArray(
			const Array<Real> & traction_global, ElementType type) {
			AKANTU_DEBUG_IN();

			UInt nb_element = mesh.getNbElement(type);
			UInt nb_quad = getFEEngine().getNbIntegrationPoints(type);

			Array<Real> traction_local(nb_element * nb_quad, nb_degree_of_freedom,
			id + ":structuralmechanics:imposed_linear_load");

			auto R_it = getFEEngineClass<MyFEEngineType>()
			.getShapeFunctions()
			.getRotations(type)
			.begin(nb_degree_of_freedom, nb_degree_of_freedom);

			auto Te_it = traction_global.begin(nb_degree_of_freedom);
			auto te_it = traction_local.begin(nb_degree_of_freedom);

			for (UInt e = 0; e < nb_element; ++e, ++R_it) {
			for (UInt q = 0; q < nb_quad; ++q, ++Te_it, ++te_it) {
			// turn the traction in the local referential
			te_it->template mul<false>(R_it, Te_it);
			}
			}

			computeForcesByLocalTractionArray(traction_local, type);

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			void StructuralMechanicsModel::afterSolveStep(bool converged) {
			if (converged) {
			assembleInternalForce();
			}
			}

			} // namespace akantu

rAKA/src/model/structural_mechanics/structural_mechanics_model.cc1531328d5dcbfeatures/contact…

structural_mechanics_model.ccView Options

rAKA/src/model/structural_mechanics/structural_mechanics_model.cc
1531328d5dcbfeatures/contact…

structural_mechanics_model.cc
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