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/**
* @file structural_mechanics_model.hh
*
* @author Sébastien Hartmann <sebastien.hartmann@epfl.ch>
* @author Damien Spielmann <damien.spielmann@epfl.ch>
* @author Nicolas Richart <nicolas.richart@epfl.ch>
* @author Fabian Barras <fabian.barras@epfl.ch>
*
* @date creation: Fri Jul 15 2011
* @date last modification: Tue Sep 02 2014
*
* @brief Particular implementation of the structural elements in the StructuralMechanicsModel
*
* @section LICENSE
*
* Copyright (©) 2014 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/>.
*
*/
/* -------------------------------------------------------------------------- */
#ifndef __AKANTU_STRUCTURAL_MECHANICS_MODEL_HH__
#define __AKANTU_STRUCTURAL_MECHANICS_MODEL_HH__
/* -------------------------------------------------------------------------- */
#include "aka_common.hh"
#include "model.hh"
#include "integrator_gauss.hh"
#include "shape_linked.hh"
#include "aka_types.hh"
#include "dumpable.hh"
#include "solver.hh"
#include "integration_scheme_2nd_order.hh"
/* -------------------------------------------------------------------------- */
namespace akantu {
class SparseMatrix;
}
__BEGIN_AKANTU__
struct StructuralMaterial {
Real E;
Real A;
Real I;
Real Iz;
Real Iy;
Real GJ;
Real rho;
Real t;
Real nu;
};
struct StructuralMechanicsModelOptions : public ModelOptions {
StructuralMechanicsModelOptions(AnalysisMethod analysis_method = _static) :
analysis_method(analysis_method) {}
AnalysisMethod analysis_method;
};
extern const StructuralMechanicsModelOptions default_structural_mechanics_model_options;
class StructuralMechanicsModel : public Model {
/* ------------------------------------------------------------------------ */
/* Constructors/Destructors */
/* ------------------------------------------------------------------------ */
public:
typedef FEEngineTemplate<IntegratorGauss, ShapeLinked, _ek_structural> MyFEEngineType;
StructuralMechanicsModel(Mesh & mesh,
UInt spatial_dimension = _all_dimensions,
const ID & id = "structural_mechanics_model",
const MemoryID & memory_id = 0);
virtual ~StructuralMechanicsModel();
/* ------------------------------------------------------------------------ */
/* Methods */
/* ------------------------------------------------------------------------ */
public:
/// initialize fully the model
void initFull(const ModelOptions & options = default_structural_mechanics_model_options);
/// initialize the internal vectors
void initArrays();
/// initialize the model
void initModel();
/// initialize the solver
void initSolver(SolverOptions & options = _solver_no_options);
/// initialize the stuff for the implicit solver
void initImplicit(bool dynamic = false,
SolverOptions & solver_options = _solver_no_options);
/// compute the stresses per elements
void computeStresses();
/// assemble the stiffness matrix
void assembleStiffnessMatrix();
/// assemble the mass matrix for consistent mass resolutions
void assembleMass();
/// implicit time integration predictor
void implicitPred();
/// implicit time integration corrector
void implicitCorr();
/// update the residual vector
void updateResidual();
/// solve the system
void solve();
bool testConvergenceIncrement(Real tolerance);
bool testConvergenceIncrement(Real tolerance, Real & error);
virtual void printself(std::ostream & stream, int indent = 0) const {};
void computeRotationMatrix(const ElementType & type);
protected:
UInt getTangentStiffnessVoigtSize(const ElementType & type);
/// compute Rotation Matrices
template<const ElementType type>
void computeRotationMatrix(Array<Real> & rotations) {};
/// compute A and solve @f[ A\delta u = f_ext - f_int @f]
template<NewmarkBeta::IntegrationSchemeCorrectorType type>
void solve(Array<Real> & increment, Real block_val = 1.);
/* ------------------------------------------------------------------------ */
/* Mass (structural_mechanics_model_mass.cc) */
/* ------------------------------------------------------------------------ */
/// assemble the mass matrix for either _ghost or _not_ghost elements
void assembleMass(GhostType ghost_type);
/// computes rho
void computeRho(Array<Real> & rho,
ElementType type,
GhostType ghost_type);
/// finish the computation of residual to solve in increment
void updateResidualInternal();
/* ------------------------------------------------------------------------ */
private:
template<ElementType type>
inline UInt getTangentStiffnessVoigtSize();
template <ElementType type>
void assembleStiffnessMatrix();
template <ElementType type>
void assembleMass();
template<ElementType type>
void computeStressOnQuad();
template <ElementType type>
void computeTangentModuli(Array<Real> & tangent_moduli);
template <ElementType type>
void transferBMatrixToSymVoigtBMatrix(Array<Real> & B, bool local = false);
template <ElementType type>
void transferNMatrixToSymVoigtNMatrix(Array<Real> & N_matrix);
/* ------------------------------------------------------------------------ */
/* Dumpable interface */
/* ------------------------------------------------------------------------ */
public:
virtual dumper::Field * createNodalFieldReal(const std::string & field_name,
const std::string & group_name,
bool padding_flag);
virtual dumper::Field * createNodalFieldBool(const std::string & field_name,
const std::string & group_name,
bool padding_flag);
virtual dumper::Field * createElementalField(const std::string & field_name,
const std::string & group_name,
bool padding_flag,
const ElementKind & kind,
const std::string & fe_engine_id = "");
/* ------------------------------------------------------------------------ */
/* Accessors */
/* ------------------------------------------------------------------------ */
public:
/// set the value of the time step
void setTimeStep(Real time_step);
/// return the dimension of the system space
AKANTU_GET_MACRO(SpatialDimension, spatial_dimension, UInt);
/// get the StructuralMechanicsModel::displacement vector
AKANTU_GET_MACRO(Displacement, *displacement_rotation, Array<Real> &);
/// get the StructuralMechanicsModel::velocity vector
AKANTU_GET_MACRO(Velocity, *velocity, Array<Real> &);
/// get the StructuralMechanicsModel::acceleration vector, updated by
/// StructuralMechanicsModel::updateAcceleration
AKANTU_GET_MACRO(Acceleration, *acceleration, Array<Real> &);
/// get the StructuralMechanicsModel::force vector (boundary forces)
AKANTU_GET_MACRO(Force, *force_momentum, Array<Real> &);
/// get the StructuralMechanicsModel::residual vector, computed by StructuralMechanicsModel::updateResidual
AKANTU_GET_MACRO(Residual, *residual, const Array<Real> &);
/// get the StructuralMechanicsModel::boundary vector
AKANTU_GET_MACRO(BlockedDOFs, *blocked_dofs, Array<bool> &);
AKANTU_GET_MACRO_BY_ELEMENT_TYPE_CONST(RotationMatrix, rotation_matrix, Real);
AKANTU_GET_MACRO(StiffnessMatrix, *stiffness_matrix, const SparseMatrix &);
AKANTU_GET_MACRO(MassMatrix, *mass_matrix, const SparseMatrix &);
AKANTU_GET_MACRO_BY_ELEMENT_TYPE_CONST(Stress, stress, Real);
AKANTU_GET_MACRO_BY_ELEMENT_TYPE(ElementMaterial, element_material, UInt);
AKANTU_GET_MACRO_BY_ELEMENT_TYPE(Set_ID, set_ID, UInt);
void addMaterial(StructuralMaterial & material) { materials.push_back(material); }
/**
* @brief set the StructuralMechanicsModel::increment_flag to on, the activate the
* update of the StructuralMechanicsModel::increment vector
*/
void setIncrementFlagOn();
/* ------------------------------------------------------------------------ */
/* Boundaries (structural_mechanics_model_boundary.cc) */
/* ------------------------------------------------------------------------ */
public:
/// Compute Linear load function set in global axis
template <ElementType type>
void computeForcesByGlobalTractionArray(const Array<Real> & tractions);
/// Compute Linear load function set in local axis
template <ElementType type>
void computeForcesByLocalTractionArray(const Array<Real> & tractions);
/// compute force vector from a function(x,y,momentum) that describe stresses
template <ElementType type>
void computeForcesFromFunction(BoundaryFunction in_function,
BoundaryFunctionType function_type);
/**
* solve a step (predictor + convergence loop + corrector) using the
* the given convergence method (see akantu::SolveConvergenceMethod)
* and the given convergence criteria (see
* akantu::SolveConvergenceCriteria)
**/
template<SolveConvergenceMethod method, SolveConvergenceCriteria criteria>
bool solveStep(Real tolerance,
UInt max_iteration = 100);
template<SolveConvergenceMethod method, SolveConvergenceCriteria criteria>
bool solveStep(Real tolerance,
Real & error,
UInt max_iteration = 100);
/// test if the system is converged
template<SolveConvergenceCriteria criteria>
bool testConvergence(Real tolerance, Real & error);
/* ------------------------------------------------------------------------ */
/* Class Members */
/* ------------------------------------------------------------------------ */
private:
/// time step
Real time_step;
/// conversion coefficient form force/mass to acceleration
Real f_m2a;
/// displacements array
Array<Real> * displacement_rotation;
/// displacements array at the previous time step (used in finite deformation)
Array<Real> * previous_displacement;
/// velocities array
Array<Real> * velocity;
/// accelerations array
Array<Real> * acceleration;
/// forces array
Array<Real> * force_momentum;
/// lumped mass array
Array<Real> * mass;
/// stress arraz
ElementTypeMapArray<Real> stress;
/// residuals array
Array<Real> * residual;
/// boundaries array
Array<bool> * blocked_dofs;
/// position of a dof in the K matrix
Array<Int> * equation_number;
ElementTypeMapArray<UInt> element_material;
// Define sets of beams
ElementTypeMapArray<UInt> set_ID;
/// local equation_number to global
unordered_map<UInt, UInt>::type local_eq_num_to_global;
/// stiffness matrix
SparseMatrix * stiffness_matrix;
/// mass matrix
SparseMatrix * mass_matrix;
/// velocity damping matrix
SparseMatrix * velocity_damping_matrix;
/// jacobian matrix
SparseMatrix * jacobian_matrix;
/// increment of displacement
Array<Real> * increment;
/// solver for implicit
Solver * solver;
/// number of degre of freedom
UInt nb_degree_of_freedom;
// Rotation matrix
ElementTypeMapArray<Real> rotation_matrix;
/// analysis method check the list in akantu::AnalysisMethod
AnalysisMethod method;
/// flag defining if the increment must be computed or not
bool increment_flag;
/// integration scheme of second order used
IntegrationScheme2ndOrder * integrator;
/* -------------------------------------------------------------------------- */
std::vector<StructuralMaterial> materials;
};
/* -------------------------------------------------------------------------- */
/* inline functions */
/* -------------------------------------------------------------------------- */
#include "structural_mechanics_model_inline_impl.cc"
/// standard output stream operator
inline std::ostream & operator <<(std::ostream & stream, const StructuralMechanicsModel & _this)
{
_this.printself(stream);
return stream;
}
__END_AKANTU__
#endif /* __AKANTU_STRUCTURAL_MECHANICS_MODEL_HH__ */
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