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contact_mechanics_model.cc
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			/**
			* @file coontact_mechanics_model.cc
			*
			* @author Mohit Pundir <mohit.pundir@epfl.ch>
			*
			* @date creation: Tue May 08 2012
			* @date last modification: Wed Feb 21 2018
			*
			* @brief Contact 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 "contact_mechanics_model.hh"
			#include "boundary_condition_functor.hh"
			#include "dumpable_inline_impl.hh"
			#include "integrator_gauss.hh"
			#include "shape_lagrange.hh"
			#include "group_manager_inline_impl.hh"

			#ifdef AKANTU_USE_IOHELPER
			#include "dumper_iohelper_paraview.hh"
			#endif

			/* -------------------------------------------------------------------------- */
			#include <algorithm>
			/* -------------------------------------------------------------------------- */

			namespace akantu {

			/* -------------------------------------------------------------------------- */
			ContactMechanicsModel::ContactMechanicsModel(
			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>("ContactMechanicsModel", mesh,
			Model::spatial_dimension);
			#if defined(AKANTU_USE_IOHELPER)
			this->mesh.registerDumper<DumperParaview>("contact_mechanics", id, true);
			this->mesh.addDumpMeshToDumper("contact_mechanics", mesh,
			Model::spatial_dimension, _not_ghost,
			_ek_regular);
			#endif

			this->registerDataAccessor(*this);

			this->detector =
			std::make_unique<ContactDetector>(this->mesh, id + ":contact_detector");

			registerFEEngineObject<MyFEEngineType>("ContactFacetsFEEngine", mesh,
			Model::spatial_dimension - 1);

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			ContactMechanicsModel::~ContactMechanicsModel() {
			AKANTU_DEBUG_IN();

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::initFullImpl(const ModelOptions & options) {

			Model::initFullImpl(options);

			// initalize the resolutions
			if (this->parser.getLastParsedFile() != "") {
			this->instantiateResolutions();
			}

			this->initResolutions();

			this->initBC(this, displacement, displacement_increment, external_force);
			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::instantiateResolutions() {
			ParserSection model_section;
			bool is_empty;
			std::tie(model_section, is_empty) = this->getParserSection();

			if (not is_empty) {
			auto model_resolutions =
			model_section.getSubSections(ParserType::_contact_resolution);
			for (const auto & section : model_resolutions) {
			this->registerNewResolution(section);
			}
			}

			auto sub_sections =
			this->parser.getSubSections(ParserType::_contact_resolution);
			for (const auto & section : sub_sections) {
			this->registerNewResolution(section);
			}

			if (resolutions.empty())
			AKANTU_EXCEPTION("No contact resolutions where instantiated for the model"
			<< getID());
			are_resolutions_instantiated = true;
			}

			/* -------------------------------------------------------------------------- */
			Resolution &
			ContactMechanicsModel::registerNewResolution(const ParserSection & section) {
			std::string res_name;
			std::string res_type = section.getName();
			std::string opt_param = section.getOption();

			try {
			std::string tmp = section.getParameter("name");
			res_name = tmp; /** this can seem weird, but there is an ambiguous operator
			* overload that i couldn't solve. @todo remove the
			* weirdness of this code
			*/
			} catch (debug::Exception &) {
			AKANTU_ERROR("A contact resolution of type \'"
			<< res_type
			<< "\' in the input file has been defined without a name!");
			}
			Resolution & res = this->registerNewResolution(res_name, res_type, opt_param);

			res.parseSection(section);

			return res;
			}

			/* -------------------------------------------------------------------------- */
			Resolution & ContactMechanicsModel::registerNewResolution(
			const ID & res_name, const ID & res_type, const ID & opt_param) {
			AKANTU_DEBUG_ASSERT(resolutions_names_to_id.find(res_name) ==
			resolutions_names_to_id.end(),
			"A resolution with this name '"
			<< res_name << "' has already been registered. "
			<< "Please use unique names for resolutions");

			UInt res_count = resolutions.size();
			resolutions_names_to_id[res_name] = res_count;

			std::stringstream sstr_res;
			sstr_res << this->id << ":" << res_count << ":" << res_type;
			ID res_id = sstr_res.str();

			std::unique_ptr<Resolution> resolution =
			ResolutionFactory::getInstance().allocate(res_type, spatial_dimension,
			opt_param, *this, res_id);

			resolutions.push_back(std::move(resolution));

			return *(resolutions.back());
			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::initResolutions() {
			AKANTU_DEBUG_ASSERT(resolutions.size() != 0,
			"No resolutions to initialize !");

			if (!are_resolutions_instantiated)
			instantiateResolutions();

			// \TODO check if each resolution needs a initResolution() method
			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::initModel() {

			AKANTU_DEBUG_IN();

			getFEEngine("ContactMechanicsModel").initShapeFunctions(_not_ghost);
			getFEEngine("ContactMechanicsModel").initShapeFunctions(_ghost);

			getFEEngine("ContactFacetsFEEngine").initShapeFunctions(_not_ghost);
			getFEEngine("ContactFacetsFEEngine").initShapeFunctions(_ghost);

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			FEEngine & ContactMechanicsModel::getFEEngineBoundary(const ID & name) {
			return dynamic_cast<FEEngine &>(
			getFEEngineClassBoundary<MyFEEngineType>(name));
			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::initSolver(
			TimeStepSolverType /time_step_solver_type/, NonLinearSolverType) {

			// for alloc type of solvers
			this->allocNodalField(this->displacement, spatial_dimension, "displacement");
			this->allocNodalField(this->displacement_increment, spatial_dimension,
			"displacement_increment");
			this->allocNodalField(this->internal_force, spatial_dimension,
			"internal_force");
			this->allocNodalField(this->external_force, spatial_dimension,
			"external_force");
			this->allocNodalField(this->normal_force, spatial_dimension,
			"normal_force");
			this->allocNodalField(this->tangential_force, spatial_dimension,
			"tangential_force");

			this->allocNodalField(this->gaps, 1, "gaps");
			this->allocNodalField(this->nodal_area, 1, "areas");
			this->allocNodalField(this->blocked_dofs, 1, "blocked_dofs");
			this->allocNodalField(this->contact_state, 1, "contact_state");
			this->allocNodalField(this->previous_master_elements, 1, "previous_master_elements");

			this->allocNodalField(this->normals, spatial_dimension, "normals");

			auto surface_dimension = spatial_dimension - 1;
			this->allocNodalField(this->tangents, surface_dimension*spatial_dimension,
			"tangents");
			this->allocNodalField(this->projections, surface_dimension,
			"projections");
			this->allocNodalField(this->previous_projections, surface_dimension,
			"previous_projections");
			this->allocNodalField(this->previous_tangents, surface_dimension*spatial_dimension,
			"previous_tangents");
			this->allocNodalField(this->tangential_tractions, surface_dimension,
			"tangential_tractions");
			this->allocNodalField(this->previous_tangential_tractions, surface_dimension,
			"previous_tangential_tractions");

			// todo register multipliers as dofs for lagrange multipliers
			}

			/* -------------------------------------------------------------------------- */
			std::tuple<ID, TimeStepSolverType>
			ContactMechanicsModel::getDefaultSolverID(const AnalysisMethod & method) {

			switch (method) {
			case _explicit_lumped_mass: {
			return std::make_tuple("explicit_lumped",
			TimeStepSolverType::_dynamic_lumped);
			}
			case _explicit_consistent_mass: {
			return std::make_tuple("explicit", TimeStepSolverType::_dynamic);
			}
			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 ContactMechanicsModel::getDefaultSolverOptions(
			const TimeStepSolverType & type) const {
			ModelSolverOptions options;

			switch (type) {
			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::_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::_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 ContactMechanicsModel::assembleResidual() {
			AKANTU_DEBUG_IN();

			/* ------------------------------------------------------------------------ */
			// computes the internal forces
			this->assembleInternalForces();

			/* ------------------------------------------------------------------------ */
			this->getDOFManager().assembleToResidual("displacement",
			*this->internal_force, 1);

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::assembleInternalForces() {
			AKANTU_DEBUG_IN();

			AKANTU_DEBUG_INFO("Assemble the contact forces");

			UInt nb_nodes = mesh.getNbNodes();
			this->internal_force->clear();
			this->normal_force->clear();
			this->tangential_force->clear();

			internal_force->resize(nb_nodes, 0.);
			normal_force->resize(nb_nodes, 0.);
			tangential_force->resize(nb_nodes, 0.);

			// assemble the forces due to contact
			auto assemble = [&](auto && ghost_type) {
			for (auto & resolution : resolutions) {
			resolution->assembleInternalForces(ghost_type);
			}
			};

			AKANTU_DEBUG_INFO("Assemble residual for local elements");
			assemble(_not_ghost);

			// assemble the stresses due to ghost elements
			AKANTU_DEBUG_INFO("Assemble residual for ghost elements");
			//assemble(_ghost);
			// TODO : uncomment when developing code for parallelization,
			// currently it addes the force twice for not ghost elements
			// hence source of error

			AKANTU_DEBUG_OUT();
			}
			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::search() {

			// save the previous state
			this->savePreviousState();

			contact_elements.clear();
			contact_elements.resize(0);

			// this needs to be resized if cohesive elements are added
			UInt nb_nodes = mesh.getNbNodes();

			auto resize_arrays = [&](auto & internal_array) {
			internal_array->clear();
			internal_array->resize(nb_nodes, 0.);
			};

			resize_arrays(gaps);
			resize_arrays(normals);
			resize_arrays(tangents);
			resize_arrays(projections);
			resize_arrays(tangential_tractions);
			resize_arrays(contact_state);

			this->detector->search(contact_elements, *gaps,
			normals, projections);

			for (auto & gap : *gaps) {
			if (gap < 0)
			gap = std::abs(gap);
			else
			gap = -gap;
			}

			if (contact_elements.size() != 0) {
			this->computeNodalAreas();
			}

			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::savePreviousState() {

			AKANTU_DEBUG_IN();

			// saving previous natural projections
			previous_projections->clear();
			previous_projections->resize(projections->size(), 0.);
			(previous_projections).copy(projections);

			// saving previous tangents
			previous_tangents->clear();
			previous_tangents->resize(tangents->size(), 0.);
			(previous_tangents).copy(tangents);

			// saving previous tangential traction
			previous_tangential_tractions->clear();
			previous_tangential_tractions->resize(tangential_tractions->size(), 0.);
			(previous_tangential_tractions).copy(tangential_tractions);

			previous_master_elements->clear();
			previous_master_elements->resize(projections->size());
			for (auto & element : contact_elements) {
			(*previous_master_elements)[element.slave] = element.master;
			}

			AKANTU_DEBUG_OUT();
			}


			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::computeNodalAreas() {

			UInt nb_nodes = mesh.getNbNodes();

			nodal_area->clear();
			external_force->clear();

			nodal_area->resize(nb_nodes, 0.);
			external_force->resize(nb_nodes, 0.);

			auto & fem_boundary = this->getFEEngineBoundary("ContactMechanicsModel");

			fem_boundary.computeNormalsOnIntegrationPoints(_not_ghost);
			fem_boundary.computeNormalsOnIntegrationPoints(_ghost);

			/*getFEEngine("ContactFacetsFEEngine").initShapeFunctions(getPositions(), _not_ghost);
			getFEEngine("ContactFacetsFEEngine").initShapeFunctions(getPositions(), _ghost);

			auto & fem_boundary = this->getFEEngineBoundary("ContactFacetsFEEngine");

			fem_boundary.computeNormalsOnIntegrationPoints(_not_ghost);
			fem_boundary.computeNormalsOnIntegrationPoints(_ghost);*/

			switch (spatial_dimension) {
			case 1: {
			for (auto && area : *nodal_area) {
			area = 1.;
			}
			break;
			}
			case 2:
			case 3: {
			this->applyBC(
			BC::Neumann::FromHigherDim(Matrix<Real>::eye(spatial_dimension, 1)),
			mesh.getElementGroup("contact_surface"));

			for (auto && tuple :
			zip(nodal_area, make_view(external_force, spatial_dimension))) {
			auto & area = std::get<0>(tuple);
			auto & force = std::get<1>(tuple);

			for (auto & f : force)
			area += pow(f, 2);

			area = sqrt(area);
			}
			break;
			}
			default:
			break;
			}

			this->external_force->clear();
			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::printself(std::ostream & stream, int indent) const {
			std::string space;
			for (Int i = 0; i < indent; i++, space += AKANTU_INDENT)
			;

			stream << space << "Contact Mechanics Model [" << std::endl;
			stream << space << " + id : " << id << std::endl;
			stream << space << " + spatial dimension : " << Model::spatial_dimension
			<< std::endl;
			stream << space << " + fem [" << std::endl;
			getFEEngine().printself(stream, indent + 2);
			stream << space << AKANTU_INDENT << "]" << std::endl;

			stream << space << " + resolutions [" << std::endl;
			for (auto & resolution : resolutions) {
			resolution->printself(stream, indent + 1);
			}
			stream << space << AKANTU_INDENT << "]" << std::endl;

			stream << space << "]" << std::endl;
			}

			/* -------------------------------------------------------------------------- */
			MatrixType ContactMechanicsModel::getMatrixType(const ID & matrix_id) {

			if (matrix_id == "K")
			return _symmetric;

			return _mt_not_defined;
			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::assembleMatrix(const ID & matrix_id) {
			if (matrix_id == "K") {
			this->assembleStiffnessMatrix();
			}
			}

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

			AKANTU_DEBUG_INFO("Assemble the new stiffness matrix");

			if (!this->getDOFManager().hasMatrix("K")) {
			this->getDOFManager().getNewMatrix("K", getMatrixType("K"));
			}

			for (auto & resolution : resolutions) {
			resolution->assembleStiffnessMatrix(_not_ghost);
			}
			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::assembleLumpedMatrix(const ID & /matrix_id/) {
			AKANTU_TO_IMPLEMENT();
			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::beforeSolveStep() {
			for (auto & resolution : resolutions)
			resolution->beforeSolveStep();
			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::afterSolveStep(bool converged) {
			for (auto & resolution : resolutions)
			resolution->afterSolveStep(converged);
			}


			/* -------------------------------------------------------------------------- */
			#ifdef AKANTU_USE_IOHELPER

			/* -------------------------------------------------------------------------- */
			std::shared_ptr<dumpers::Field>
			ContactMechanicsModel::createNodalFieldBool(const std::string &,
			const std::string &, bool) {

			return nullptr;
			}


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

			std::map<std::string, Array<Real> *> real_nodal_fields;
			real_nodal_fields["contact_force"] = this->internal_force;
			real_nodal_fields["normal_force"] = this->normal_force;
			real_nodal_fields["tangential_force"] = this->tangential_force;
			real_nodal_fields["blocked_dofs"] = this->blocked_dofs;
			real_nodal_fields["normals"] = this->normals;
			real_nodal_fields["tangents"] = this->tangents;
			real_nodal_fields["gaps"] = this->gaps;
			real_nodal_fields["areas"] = this->nodal_area;
			real_nodal_fields["contact_state"] = this->contact_state;

			std::shared_ptr<dumpers::Field> field;
			if (padding_flag)
			field = this->mesh.createNodalField(real_nodal_fields[field_name],
			group_name, 3);
			else
			field = this->mesh.createNodalField(real_nodal_fields[field_name],
			group_name);
			return field;
			}

			#else
			/* -------------------------------------------------------------------------- */
			std::shared_ptr<dumpers::Field>
			ContactMechanicsModel::createNodalFieldBool(const std::string &,
			const std::string &, bool) {

			return nullptr;
			}


			/* -------------------------------------------------------------------------- */
			std::shared_ptr<dumpers::Field>
			ContactMechanicsModel::createNodalFieldReal(const std::string & ,
			const std::string & , bool) {
			return nullptr;
			}

			#endif

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::dump(const std::string & dumper_name) {
			mesh.dump(dumper_name);
			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::dump(const std::string & dumper_name, UInt step) {
			mesh.dump(dumper_name, step);
			}

			/* ------------------------------------------------------------------------- */
			void ContactMechanicsModel::dump(const std::string & dumper_name, Real time,
			UInt step) {
			mesh.dump(dumper_name, time, step);
			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::dump() { mesh.dump(); }

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::dump(UInt step) { mesh.dump(step); }

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::dump(Real time, UInt step) {
			mesh.dump(time, step);
			}

			/* -------------------------------------------------------------------------- */
			UInt ContactMechanicsModel::getNbData(
			const Array<Element> & elements, const SynchronizationTag & /tag/) const {
			AKANTU_DEBUG_IN();

			UInt size = 0;
			UInt nb_nodes_per_element = 0;

			for (const Element & el : elements) {
			nb_nodes_per_element += Mesh::getNbNodesPerElement(el.type);
			}

			AKANTU_DEBUG_OUT();
			return size;
			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::packData(CommunicationBuffer & /buffer/,
			const Array<Element> & /elements/,
			const SynchronizationTag & /tag/) const {
			AKANTU_DEBUG_IN();

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::unpackData(CommunicationBuffer & /buffer/,
			const Array<Element> & /elements/,
			const SynchronizationTag & /tag/) {
			AKANTU_DEBUG_IN();

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			UInt ContactMechanicsModel::getNbData(
			const Array<UInt> & dofs, const SynchronizationTag & /tag/) const {
			AKANTU_DEBUG_IN();

			UInt size = 0;

			AKANTU_DEBUG_OUT();
			return size * dofs.size();
			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::packData(CommunicationBuffer & /buffer/,
			const Array<UInt> & /dofs/,
			const SynchronizationTag & /tag/) const {
			AKANTU_DEBUG_IN();

			AKANTU_DEBUG_OUT();
			}

			/* -------------------------------------------------------------------------- */
			void ContactMechanicsModel::unpackData(CommunicationBuffer & /buffer/,
			const Array<UInt> & /dofs/,
			const SynchronizationTag & /tag/) {
			AKANTU_DEBUG_IN();

			AKANTU_DEBUG_OUT();
			}

			} // namespace akantu

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rAKA/src/model/contact_mechanics/contact_mechanics_model.cc
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contact_mechanics_model.cc
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