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rAKA/src/model/model_couplers/coupler_solid_contact.cc
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coupler_solid_contact.cc
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/**
* @file coupler_solid_contact.cc
*
* @author Mohit Pundir <mohit.pundir@epfl.ch>
*
* @date creation: Thu Jan 17 2019
* @date last modification: Thu May 22 2019
*
* @brief class for coupling of solid mechanics and conatct mechanics
* model
*
* @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 "coupler_solid_contact.hh"
#include "dumpable_inline_impl.hh"
#include "integrator_gauss.hh"
#include "shape_lagrange.hh"
#ifdef AKANTU_USE_IOHELPER
#include "dumper_iohelper_paraview.hh"
#endif
/* -------------------------------------------------------------------------- */
namespace akantu {
CouplerSolidContact::CouplerSolidContact(
Mesh & mesh, UInt dim, const ID & id, const MemoryID & memory_id,
std::shared_ptr<DOFManager> dof_manager, const ModelType model_type)
: Model(mesh, model_type, dof_manager, dim, id, memory_id) {
AKANTU_DEBUG_IN();
this->registerFEEngineObject<MyFEEngineType>("CouplerSolidContact", mesh,
Model::spatial_dimension);
#if defined(AKANTU_USE_IOHELPER)
this->mesh.registerDumper<DumperParaview>("coupler_solid_contact", id, true);
this->mesh.addDumpMeshToDumper("coupler_solid_contact", mesh,
Model::spatial_dimension, _not_ghost,
_ek_regular);
#endif
this->registerDataAccessor(*this);
solid =
new SolidMechanicsModel(mesh, Model::spatial_dimension,
"solid_mechanics_model", 0, this->dof_manager);
contact = new ContactMechanicsModel(mesh, Model::spatial_dimension,
"contact_mechanics_model", 0,
this->dof_manager);
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
CouplerSolidContact::~CouplerSolidContact() {}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::initFullImpl(const ModelOptions & options) {
Model::initFullImpl(options);
this->initBC(*this, *displacement, *displacement_increment, *external_force);
}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::initModel() {
getFEEngine().initShapeFunctions(_not_ghost);
getFEEngine().initShapeFunctions(_ghost);
}
/* -------------------------------------------------------------------------- */
FEEngine & CouplerSolidContact::getFEEngineBoundary(const ID & name) {
return dynamic_cast<FEEngine &>(
getFEEngineClassBoundary<MyFEEngineType>(name));
}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::initSolver(TimeStepSolverType, NonLinearSolverType) {}
/* -------------------------------------------------------------------------- */
std::tuple<ID, TimeStepSolverType>
CouplerSolidContact::getDefaultSolverID(const AnalysisMethod & method) {
switch (method) {
case _explicit_contact: {
return std::make_tuple("explicit_contact", TimeStepSolverType::_static);
}
case _implicit_contact: {
return std::make_tuple("implicit_contact", TimeStepSolverType::_static);
}
case _explicit_dynamic_contact: {
return std::make_tuple("explicit_dynamic_contact",
TimeStepSolverType::_dynamic_lumped);
break;
}
default:
return std::make_tuple("unkown", TimeStepSolverType::_not_defined);
}
}
/* -------------------------------------------------------------------------- */
TimeStepSolverType CouplerSolidContact::getDefaultSolverType() const {
return TimeStepSolverType::_dynamic_lumped;
}
/* -------------------------------------------------------------------------- */
ModelSolverOptions CouplerSolidContact::getDefaultSolverOptions(
const TimeStepSolverType & type) const {
ModelSolverOptions options;
switch (type) {
case TimeStepSolverType::_dynamic_lumped: {
options.non_linear_solver_type = NonLinearSolverType::_lumped;
options.integration_scheme_type["displacement"] =
IntegrationSchemeType::_central_difference;
options.solution_type["displacement"] = IntegrationScheme::_acceleration;
break;
}
case TimeStepSolverType::_dynamic: {
options.non_linear_solver_type = NonLinearSolverType::_lumped;
options.integration_scheme_type["displacement"] =
IntegrationSchemeType::_central_difference;
options.solution_type["displacement"] = IntegrationScheme::_acceleration;
break;
}
case TimeStepSolverType::_static: {
options.non_linear_solver_type =
NonLinearSolverType::_newton_raphson_contact;
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");
break;
}
return options;
}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::assembleResidual() {
// computes the internal forces
this->assembleInternalForces();
auto & internal_force = solid->getInternalForce();
auto & external_force = solid->getExternalForce();
auto & contact_force = contact->getInternalForce();
/*switch (method) {
case _explicit_dynamic_contact: {
for (auto & pair : contact_map) {
auto & connectivity = pair.second.connectivity;
for (auto node : connectivity) {
for (auto s : arange(spatial_dimension))
external_force(node, s) = contact_force(node, s);
}
}
break;
}
default:
break;
}*/
auto get_connectivity = [&](auto & slave, auto & master) {
Vector<UInt> master_conn(const_cast<const Mesh &>(mesh).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;
};
switch(method) {
case _explicit_dynamic_contact: {
for (auto & element : contact->getContactElements()) {
for (auto & conn : get_connectivity(element.slave, element.master)) {
for (auto dim : arange(spatial_dimension)) {
external_force(conn, dim) = contact_force(conn, dim);
}
}
}
}
default:
break;
}
/* ------------------------------------------------------------------------ */
this->getDOFManager().assembleToResidual("displacement", external_force, 1);
this->getDOFManager().assembleToResidual("displacement", internal_force, 1);
switch (method) {
case _explicit_contact:
case _implicit_contact: {
this->getDOFManager().assembleToResidual("displacement", contact_force, 1);
break;
}
default:
break;
}
}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::assembleResidual(const ID & residual_part) {
AKANTU_DEBUG_IN();
auto & internal_force = solid->getInternalForce();
auto & external_force = solid->getExternalForce();
auto & contact_force = contact->getInternalForce();
auto get_connectivity = [&](auto & slave, auto & master) {
Vector<UInt> master_conn(const_cast<const Mesh &>(mesh).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;
};
switch(method) {
case _explicit_dynamic_contact: {
for (auto & element : contact->getContactElements()) {
for (auto & conn : get_connectivity(element.slave, element.master)) {
for (auto dim : arange(spatial_dimension)) {
external_force(conn, dim) = contact_force(conn, dim);
}
}
}
}
default:
break;
}
/* switch (method) {
case _explicit_dynamic_contact: {
for (auto & pair : contact_map) {
auto & connectivity = pair.second.connectivity;
for (auto node : connectivity) {
for (auto s : arange(spatial_dimension))
external_force(node, s) = contact_force(node, s);
}
}
break;
}
default:
break;
}*/
if ("external" == residual_part) {
this->getDOFManager().assembleToResidual("displacement", external_force, 1);
AKANTU_DEBUG_OUT();
return;
}
if ("internal" == residual_part) {
this->getDOFManager().assembleToResidual("displacement", internal_force, 1);
switch (method) {
case _explicit_contact:
case _implicit_contact: {
this->getDOFManager().assembleToResidual("displacement", contact_force,
1);
break;
}
default:
break;
}
AKANTU_DEBUG_OUT();
return;
}
AKANTU_CUSTOM_EXCEPTION(
debug::SolverCallbackResidualPartUnknown(residual_part));
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::beforeSolveStep() {}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::afterSolveStep() {}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::predictor() {
switch (method) {
case _implicit_contact:
case _explicit_dynamic_contact: {
Array<Real> displacement(0, Model::spatial_dimension);
auto & current_positions = contact->getContactDetector().getPositions();
current_positions.copy(mesh.getNodes());
auto us = this->getDOFManager().getDOFs("displacement");
const auto blocked_dofs =
this->getDOFManager().getBlockedDOFs("displacement");
for (auto && tuple : zip(make_view(us), make_view(blocked_dofs),
make_view(current_positions))) {
auto & u = std::get<0>(tuple);
const auto & bld = std::get<1>(tuple);
auto & cp = std::get<2>(tuple);
//if (not bld)
cp += u;
}
contact->search();
break;
}
default:
break;
}
}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::corrector() {
switch (method) {
case _explicit_contact: {
Array<Real> displacement(0, Model::spatial_dimension);
auto & current_positions = contact->getContactDetector().getPositions();
current_positions.copy(mesh.getNodes());
auto us = this->getDOFManager().getDOFs("displacement");
const auto blocked_dofs =
this->getDOFManager().getBlockedDOFs("displacement");
for (auto && tuple : zip(make_view(us), make_view(blocked_dofs),
make_view(current_positions))) {
auto & u = std::get<0>(tuple);
const auto & bld = std::get<1>(tuple);
auto & cp = std::get<2>(tuple);
//if (not bld)
cp += u;
}
contact->search();
break;
}
default:
break;
}
}
/* -------------------------------------------------------------------------- */
MatrixType CouplerSolidContact::getMatrixType(const ID & matrix_id) {
if (matrix_id == "K")
return _symmetric;
if (matrix_id == "M") {
return _symmetric;
}
return _mt_not_defined;
}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::assembleMatrix(const ID & matrix_id) {
if (matrix_id == "K") {
this->assembleStiffnessMatrix();
} else if (matrix_id == "M") {
solid->assembleMass();
}
}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::assembleLumpedMatrix(const ID & matrix_id) {
if (matrix_id == "M") {
solid->assembleMassLumped();
}
}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::assembleInternalForces() {
AKANTU_DEBUG_IN();
AKANTU_DEBUG_INFO("Assemble the internal forces");
solid->assembleInternalForces();
contact->assembleInternalForces();
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::assembleStiffnessMatrix() {
AKANTU_DEBUG_IN();
AKANTU_DEBUG_INFO("Assemble the new stiffness matrix");
solid->assembleStiffnessMatrix();
switch (method) {
case _explicit_contact:
case _implicit_contact: {
contact->assembleStiffnessMatrix();
break;
}
default:
break;
}
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::assembleMassLumped() { solid->assembleMassLumped(); }
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::assembleMass() { solid->assembleMass(); }
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::assembleMassLumped(GhostType ghost_type) {
solid->assembleMassLumped(ghost_type);
}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::assembleMass(GhostType ghost_type) {
solid->assembleMass(ghost_type);
}
/* -------------------------------------------------------------------------- */
#ifdef AKANTU_USE_IOHELPER
/* -------------------------------------------------------------------------- */
std::shared_ptr<dumper::Field> CouplerSolidContact::createElementalField(
const std::string & field_name, const std::string & group_name,
bool padding_flag, const UInt & spatial_dimension,
const ElementKind & kind) {
return solid->createElementalField(field_name, group_name, padding_flag,
spatial_dimension, kind);
std::shared_ptr<dumper::Field> field;
return field;
}
/* -------------------------------------------------------------------------- */
std::shared_ptr<dumper::Field>
CouplerSolidContact::createNodalFieldReal(const std::string & field_name,
const std::string & group_name,
bool padding_flag) {
if (field_name == "contact_force" or field_name == "normals" or
field_name == "normal_force" or field_name == "tangential_force" or
field_name == "stick_or_slip" or
field_name == "gaps" or field_name == "previous_gaps" or
field_name == "areas" or field_name == "tangents") {
return contact->createNodalFieldReal(field_name, group_name, padding_flag);
} else {
return solid->createNodalFieldReal(field_name, group_name, padding_flag);
}
std::shared_ptr<dumper::Field> field;
return field;
}
/* -------------------------------------------------------------------------- */
std::shared_ptr<dumper::Field>
CouplerSolidContact::createNodalFieldBool(const std::string & field_name,
const std::string & group_name,
bool padding_flag) {
return solid->createNodalFieldBool(field_name, group_name, padding_flag);
std::shared_ptr<dumper::Field> field;
return field;
}
#else
/* -------------------------------------------------------------------------- */
std::shared_ptr<dumper::Field>
CouplerSolidContact::createElementalField(const std::string &,
const std::string &, bool,
const UInt &, const ElementKind &) {
return nullptr;
}
/* ----------------------------------------------------------------------- */
std::shared_ptr<dumper::Field>
CouplerSolidContact::createNodalFieldReal(const std::string &,
const std::string &, bool) {
return nullptr;
}
/*-------------------------------------------------------------------*/
std::shared_ptr<dumper::Field>
CouplerSolidContact::createNodalFieldBool(const std::string &,
const std::string &, bool) {
return nullptr;
}
#endif
/* --------------------------------------------------------------------------
*/
void CouplerSolidContact::dump(const std::string & dumper_name) {
solid->onDump();
mesh.dump(dumper_name);
}
/* --------------------------------------------------------------------------
*/
void CouplerSolidContact::dump(const std::string & dumper_name, UInt step) {
solid->onDump();
mesh.dump(dumper_name, step);
}
/* -------------------------------------------------------------------------
*/
void CouplerSolidContact::dump(const std::string & dumper_name, Real time,
UInt step) {
solid->onDump();
mesh.dump(dumper_name, time, step);
}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::dump() {
solid->onDump();
mesh.dump();
}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::dump(UInt step) {
solid->onDump();
mesh.dump(step);
}
/* -------------------------------------------------------------------------- */
void CouplerSolidContact::dump(Real time, UInt step) {
solid->onDump();
mesh.dump(time, step);
}
} // namespace akantu
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