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rAKA/src/model/solid_mechanics/solid_mechanics_model.hh
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/**
* @file solid_mechanics_model.hh
*
* @author Guillaume Anciaux <guillaume.anciaux@epfl.ch>
* @author Daniel Pino Muñoz <daniel.pinomunoz@epfl.ch>
* @author Nicolas Richart <nicolas.richart@epfl.ch>
*
* @date creation: Tue Jul 27 2010
* @date last modification: Fri Apr 09 2021
*
* @brief Model of Solid Mechanics
*
*
* @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 "boundary_condition.hh"
#include "data_accessor.hh"
#include "fe_engine.hh"
#include "model.hh"
#include "non_local_manager_callback.hh"
#include "solid_mechanics_model_event_handler.hh"
/* -------------------------------------------------------------------------- */
#ifndef AKANTU_SOLID_MECHANICS_MODEL_HH_
#define AKANTU_SOLID_MECHANICS_MODEL_HH_
namespace akantu {
class Material;
class MaterialSelector;
class DumperIOHelper;
class NonLocalManager;
template <ElementKind kind, class IntegrationOrderFunctor>
class IntegratorGauss;
template <ElementKind kind> class ShapeLagrange;
} // namespace akantu
/* -------------------------------------------------------------------------- */
namespace akantu {
/* -------------------------------------------------------------------------- */
class SolidMechanicsModel
: public Model,
public DataAccessor<Element>,
public DataAccessor<UInt>,
public BoundaryCondition<SolidMechanicsModel>,
public NonLocalManagerCallback,
public EventHandlerManager<SolidMechanicsModelEventHandler> {
/* ------------------------------------------------------------------------ */
/* Constructors/Destructors */
/* ------------------------------------------------------------------------ */
public:
class NewMaterialElementsEvent : public NewElementsEvent {
public:
AKANTU_GET_MACRO_NOT_CONST(MaterialList, material, Array<UInt> &);
AKANTU_GET_MACRO(MaterialList, material, const Array<UInt> &);
protected:
Array<UInt> material;
};
using MyFEEngineType = FEEngineTemplate<IntegratorGauss, ShapeLagrange>;
protected:
using EventManager = EventHandlerManager<SolidMechanicsModelEventHandler>;
public:
SolidMechanicsModel(Mesh & mesh, UInt dim = _all_dimensions,
const ID & id = "solid_mechanics_model",
std::shared_ptr<DOFManager> dof_manager = nullptr,
ModelType model_type = ModelType::_solid_mechanics_model);
~SolidMechanicsModel() override;
/* ------------------------------------------------------------------------ */
/* Methods */
/* ------------------------------------------------------------------------ */
protected:
/// initialize completely the model
void initFullImpl(
const ModelOptions & options = SolidMechanicsModelOptions()) override;
public:
/// initialize all internal arrays for materials
virtual void initMaterials();
protected:
/// initialize the model
void initModel() override;
/// function to print the containt of the class
void printself(std::ostream & stream, int indent = 0) const override;
/// get some default values for derived classes
std::tuple<ID, TimeStepSolverType>
getDefaultSolverID(const AnalysisMethod & method) override;
/* ------------------------------------------------------------------------ */
/* Solver interface */
/* ------------------------------------------------------------------------ */
public:
/// assembles the stiffness matrix,
virtual void assembleStiffnessMatrix(bool need_to_reassemble = false);
/// assembles the internal forces in the array internal_forces
virtual void assembleInternalForces();
protected:
/// callback for the solver, this adds f_{ext} - f_{int} to the residual
void assembleResidual() override;
/// callback for the solver, this adds f_{ext} or f_{int} to the residual
void assembleResidual(const ID & residual_part) override;
bool canSplitResidual() const override { return true; }
/// get the type of matrix needed
MatrixType getMatrixType(const ID & matrix_id) const override;
/// callback for the solver, this assembles different matrices
void assembleMatrix(const ID & matrix_id) override;
/// callback for the solver, this assembles the stiffness matrix
void assembleLumpedMatrix(const ID & matrix_id) override;
/// callback for the solver, this is called at beginning of solve
void predictor() override;
/// callback for the solver, this is called at end of solve
void corrector() override;
/// callback for the solver, this is called at beginning of solve
void beforeSolveStep() override;
/// callback for the solver, this is called at end of solve
void afterSolveStep(bool converged = true) override;
/// Callback for the model to instantiate the matricees when needed
void initSolver(TimeStepSolverType time_step_solver_type,
NonLinearSolverType non_linear_solver_type) override;
protected:
/* ------------------------------------------------------------------------ */
TimeStepSolverType getDefaultSolverType() const override;
/* ------------------------------------------------------------------------ */
ModelSolverOptions
getDefaultSolverOptions(const TimeStepSolverType & type) const override;
public:
bool isDefaultSolverExplicit() {
return method == _explicit_lumped_mass ||
method == _explicit_consistent_mass;
}
protected:
/// update the current position vector
void updateCurrentPosition();
/* ------------------------------------------------------------------------ */
/* Materials (solid_mechanics_model_material.cc) */
/* ------------------------------------------------------------------------ */
public:
/// register an empty material of a given type
Material & registerNewMaterial(const ID & mat_name, const ID & mat_type,
const ID & opt_param);
/// reassigns materials depending on the material selector
virtual void reassignMaterial();
/// apply a constant eigen_grad_u on all quadrature points of a given material
virtual void applyEigenGradU(const Matrix<Real> & prescribed_eigen_grad_u,
const ID & material_name,
GhostType ghost_type = _not_ghost);
protected:
/// register a material in the dynamic database
Material & registerNewMaterial(const ParserSection & mat_section);
/// read the material files to instantiate all the materials
void instantiateMaterials();
/// set the element_id_by_material and add the elements to the good materials
virtual void
assignMaterialToElements(const ElementTypeMapArray<UInt> * filter = nullptr);
/* ------------------------------------------------------------------------ */
/* Mass (solid_mechanics_model_mass.cc) */
/* ------------------------------------------------------------------------ */
public:
/// assemble the lumped mass matrix
void assembleMassLumped();
/// assemble the mass matrix for consistent mass resolutions
void assembleMass();
public:
/// assemble the lumped mass matrix for local and ghost elements
void assembleMassLumped(GhostType ghost_type);
/// assemble the mass matrix for either _ghost or _not_ghost elements
void assembleMass(GhostType ghost_type);
protected:
/// fill a vector of rho
void computeRho(Array<Real> & rho, ElementType type, GhostType ghost_type);
/// compute the kinetic energy
Real getKineticEnergy();
Real getKineticEnergy(ElementType type, UInt index);
/// compute the external work (for impose displacement, the velocity should be
/// given too)
Real getExternalWork();
/* ------------------------------------------------------------------------ */
/* NonLocalManager inherited members */
/* ------------------------------------------------------------------------ */
protected:
void initializeNonLocal() override;
void updateDataForNonLocalCriterion(ElementTypeMapReal & criterion) override;
void computeNonLocalStresses(GhostType ghost_type) override;
void insertIntegrationPointsInNeighborhoods(GhostType ghost_type) override;
/// update the values of the non local internal
void updateLocalInternal(ElementTypeMapReal & internal_flat,
GhostType ghost_type, ElementKind kind) override;
/// copy the results of the averaging in the materials
void updateNonLocalInternal(ElementTypeMapReal & internal_flat,
GhostType ghost_type, ElementKind kind) override;
/* ------------------------------------------------------------------------ */
/* Data Accessor inherited members */
/* ------------------------------------------------------------------------ */
public:
UInt getNbData(const Array<Element> & elements,
const SynchronizationTag & tag) const override;
void packData(CommunicationBuffer & buffer, const Array<Element> & elements,
const SynchronizationTag & tag) const override;
void unpackData(CommunicationBuffer & buffer, const Array<Element> & elements,
const SynchronizationTag & tag) override;
UInt getNbData(const Array<UInt> & dofs,
const SynchronizationTag & tag) const override;
void packData(CommunicationBuffer & buffer, const Array<UInt> & dofs,
const SynchronizationTag & tag) const override;
void unpackData(CommunicationBuffer & buffer, const Array<UInt> & dofs,
const SynchronizationTag & tag) override;
protected:
void
splitElementByMaterial(const Array<Element> & elements,
std::vector<Array<Element>> & elements_per_mat) const;
template <typename Operation>
void splitByMaterial(const Array<Element> & elements, Operation && op) const;
/* ------------------------------------------------------------------------ */
/* Mesh Event Handler inherited members */
/* ------------------------------------------------------------------------ */
protected:
void onNodesAdded(const Array<UInt> & nodes_list,
const NewNodesEvent & event) override;
void onNodesRemoved(const Array<UInt> & element_list,
const Array<UInt> & new_numbering,
const RemovedNodesEvent & event) override;
void onElementsAdded(const Array<Element> & element_list,
const NewElementsEvent & event) override;
void onElementsRemoved(const Array<Element> & element_list,
const ElementTypeMapArray<UInt> & new_numbering,
const RemovedElementsEvent & event) override;
void onElementsChanged(const Array<Element> & /*unused*/,
const Array<Element> & /*unused*/,
const ElementTypeMapArray<UInt> & /*unused*/,
const ChangedElementsEvent & /*unused*/) override{};
/* ------------------------------------------------------------------------ */
/* Dumpable interface (kept for convenience) and dumper relative functions */
/* ------------------------------------------------------------------------ */
public:
virtual void onDump();
//! decide wether a field is a material internal or not
bool isInternal(const std::string & field_name, ElementKind element_kind);
//! give the amount of data per element
virtual ElementTypeMap<UInt>
getInternalDataPerElem(const std::string & field_name, ElementKind kind);
//! flatten a given material internal field
ElementTypeMapArray<Real> &
flattenInternal(const std::string & field_name, ElementKind kind,
GhostType ghost_type = _not_ghost);
//! flatten all the registered material internals
void flattenAllRegisteredInternals(ElementKind kind);
std::shared_ptr<dumpers::Field>
createNodalFieldReal(const std::string & field_name,
const std::string & group_name,
bool padding_flag) override;
std::shared_ptr<dumpers::Field>
createNodalFieldBool(const std::string & field_name,
const std::string & group_name,
bool padding_flag) override;
std::shared_ptr<dumpers::Field>
createElementalField(const std::string & field_name,
const std::string & group_name, bool padding_flag,
UInt spatial_dimension, ElementKind kind) override;
void dump(const std::string & dumper_name) override;
void dump(const std::string & dumper_name, UInt step) override;
void dump(const std::string & dumper_name, Real time, UInt step) override;
void dump() override;
void dump(UInt step) override;
void dump(Real time, UInt step) override;
/* ------------------------------------------------------------------------ */
/* Accessors */
/* ------------------------------------------------------------------------ */
public:
/// set the value of the time step
void setTimeStep(Real time_step, const ID & solver_id = "") override;
/// get the value of the conversion from forces/ mass to acceleration
AKANTU_GET_MACRO(F_M2A, f_m2a, Real);
/// set the value of the conversion from forces/ mass to acceleration
AKANTU_SET_MACRO(F_M2A, f_m2a, Real);
/// get the SolidMechanicsModel::displacement array
AKANTU_GET_MACRO_DEREF_PTR_NOT_CONST(Displacement, displacement);
/// get the SolidMechanicsModel::displacement array
AKANTU_GET_MACRO_DEREF_PTR(Displacement, displacement);
/// get the SolidMechanicsModel::previous_displacement array
AKANTU_GET_MACRO_DEREF_PTR(PreviousDisplacement, previous_displacement);
/// get the SolidMechanicsModel::current_position array
const Array<Real> & getCurrentPosition();
/// get the SolidMechanicsModel::displacement_increment array
AKANTU_GET_MACRO_DEREF_PTR(Increment, displacement_increment);
/// get the SolidMechanicsModel::displacement_increment array
AKANTU_GET_MACRO_DEREF_PTR_NOT_CONST(Increment, displacement_increment);
/// get the lumped SolidMechanicsModel::mass array
AKANTU_GET_MACRO_DEREF_PTR(Mass, mass);
/// get the SolidMechanicsModel::velocity array
AKANTU_GET_MACRO_DEREF_PTR_NOT_CONST(Velocity, velocity);
/// get the SolidMechanicsModel::velocity array
AKANTU_GET_MACRO_DEREF_PTR(Velocity, velocity);
/// get the SolidMechanicsModel::acceleration array
AKANTU_GET_MACRO_DEREF_PTR_NOT_CONST(Acceleration, acceleration);
/// get the SolidMechanicsModel::acceleration array
AKANTU_GET_MACRO_DEREF_PTR(Acceleration, acceleration);
/// get the SolidMechanicsModel::external_force array
AKANTU_GET_MACRO_DEREF_PTR_NOT_CONST(ExternalForce, external_force);
/// get the SolidMechanicsModel::external_force array
AKANTU_GET_MACRO_DEREF_PTR(ExternalForce, external_force);
/// get the SolidMechanicsModel::force array (external forces)
[[deprecated("Use getExternalForce instead of this function")]] Array<Real> &
getForce() {
return getExternalForce();
}
/// get the SolidMechanicsModel::internal_force array (internal forces)
AKANTU_GET_MACRO_DEREF_PTR_NOT_CONST(InternalForce, internal_force);
/// get the SolidMechanicsModel::internal_force array (internal forces)
AKANTU_GET_MACRO_DEREF_PTR(InternalForce, internal_force);
/// get the SolidMechanicsModel::blocked_dofs array
AKANTU_GET_MACRO_DEREF_PTR_NOT_CONST(BlockedDOFs, blocked_dofs);
/// get the SolidMechanicsModel::blocked_dofs array
AKANTU_GET_MACRO_DEREF_PTR(BlockedDOFs, blocked_dofs);
/// get an iterable on the materials
inline decltype(auto) getMaterials();
/// get an iterable on the materials
inline decltype(auto) getMaterials() const;
/// get a particular material (by numerical material index)
inline Material & getMaterial(UInt mat_index);
/// get a particular material (by numerical material index)
inline const Material & getMaterial(UInt mat_index) const;
/// get a particular material (by material name)
inline Material & getMaterial(const std::string & name);
/// get a particular material (by material name)
inline const Material & getMaterial(const std::string & name) const;
/// get a particular material id from is name
inline UInt getMaterialIndex(const std::string & name) const;
/// give the number of materials
inline UInt getNbMaterials() const { return materials.size(); }
/// give the material internal index from its id
Int getInternalIndexFromID(const ID & id) const;
/// compute the stable time step
Real getStableTimeStep();
/**
* @brief Returns the total energy for a given energy type
*
* Energy types of SolidMechanicsModel expected as argument are:
* - `kinetic`
* - `external work`
*
* Other energy types are passed on to the materials. All materials should
* define a `potential` energy type. For additional energy types, see material
* documentation.
*/
Real getEnergy(const std::string & energy_id);
/// Compute energy for an element type and material index
Real getEnergy(const std::string & energy_id, ElementType type, UInt index);
/// Compute energy for an individual element
Real getEnergy(const std::string & energy_id, const Element & element) {
return getEnergy(energy_id, element.type, element.element);
}
/// Compute energy for an element group
Real getEnergy(const ID & energy_id, const ID & group_id);
AKANTU_GET_MACRO(MaterialByElement, material_index,
const ElementTypeMapArray<UInt> &);
AKANTU_GET_MACRO(MaterialLocalNumbering, material_local_numbering,
const ElementTypeMapArray<UInt> &);
/// vectors containing local material element index for each global element
/// index
AKANTU_GET_MACRO_BY_ELEMENT_TYPE_CONST(MaterialByElement, material_index,
UInt);
// AKANTU_GET_MACRO_BY_ELEMENT_TYPE(MaterialByElement, material_index, UInt);
AKANTU_GET_MACRO_BY_ELEMENT_TYPE_CONST(MaterialLocalNumbering,
material_local_numbering, UInt);
// AKANTU_GET_MACRO_BY_ELEMENT_TYPE(MaterialLocalNumbering,
// material_local_numbering, UInt);
AKANTU_GET_MACRO_NOT_CONST(MaterialSelector, material_selector,
std::shared_ptr<MaterialSelector>);
void
setMaterialSelector(std::shared_ptr<MaterialSelector> material_selector) {
this->material_selector = std::move(material_selector);
}
/// Access the non_local_manager interface
AKANTU_GET_MACRO(NonLocalManager, *non_local_manager, NonLocalManager &);
/// get the FEEngine object to integrate or interpolate on the boundary
FEEngine & getFEEngineBoundary(const ID & name = "") override;
protected:
/// compute the stable time step
Real getStableTimeStep(GhostType ghost_type);
/* ------------------------------------------------------------------------ */
/* Class Members */
/* ------------------------------------------------------------------------ */
private:
/// release version of the displacement array
UInt displacement_release{0};
/// release version of the current_position array
UInt current_position_release{0};
/// Check if materials need to recompute the mass array
bool need_to_reassemble_lumped_mass{true};
/// Check if materials need to recompute the mass matrix
bool need_to_reassemble_mass{true};
/// mapping between material name and material internal id
std::map<std::string, UInt> materials_names_to_id;
protected:
/// conversion coefficient form force/mass to acceleration
Real f_m2a{1.0};
/// displacements array
std::unique_ptr<Array<Real>> displacement;
/// displacements array at the previous time step (used in finite deformation)
std::unique_ptr<Array<Real>> previous_displacement;
/// increment of displacement
std::unique_ptr<Array<Real>> displacement_increment;
/// lumped mass array
std::unique_ptr<Array<Real>> mass;
/// velocities array
std::unique_ptr<Array<Real>> velocity;
/// accelerations array
std::unique_ptr<Array<Real>> acceleration;
/// external forces array
std::unique_ptr<Array<Real>> external_force;
/// internal forces array
std::unique_ptr<Array<Real>> internal_force;
/// array specifing if a degree of freedom is blocked or not
std::unique_ptr<Array<bool>> blocked_dofs;
/// array of current position used during update residual
std::unique_ptr<Array<Real>> current_position;
/// Arrays containing the material index for each element
ElementTypeMapArray<UInt> material_index;
/// Arrays containing the position in the element filter of the material
/// (material's local numbering)
ElementTypeMapArray<UInt> material_local_numbering;
/// list of used materials
std::vector<std::unique_ptr<Material>> materials;
/// class defining of to choose a material
std::shared_ptr<MaterialSelector> material_selector;
using flatten_internal_map =
std::map<std::pair<std::string, ElementKind>,
std::unique_ptr<ElementTypeMapArray<Real>>>;
/// tells if the material are instantiated
flatten_internal_map registered_internals;
/// non local manager
std::unique_ptr<NonLocalManager> non_local_manager;
/// tells if the material are instantiated
bool are_materials_instantiated{false};
friend class Material;
template <class Model_> friend class CouplerSolidContactTemplate;
};
/* -------------------------------------------------------------------------- */
namespace BC {
namespace Neumann {
using FromStress = FromHigherDim;
using FromTraction = FromSameDim;
} // namespace Neumann
} // namespace BC
} // namespace akantu
/* -------------------------------------------------------------------------- */
/* inline functions */
/* -------------------------------------------------------------------------- */
#include "material.hh"
#include "parser.hh"
#include "solid_mechanics_model_inline_impl.hh"
#include "solid_mechanics_model_tmpl.hh"
/* -------------------------------------------------------------------------- */
#endif /* AKANTU_SOLID_MECHANICS_MODEL_HH_ */
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