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rAKA/src/model/contact_mechanics/resolution_utils.cc
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resolution_utils.cc
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/**
* @file resolution_utils.cc
*
* @author Mohit Pundir <mohit.pundir@epfl.ch>
*
* @date creation: Mon Mmay 20 2019
* @date last modification: Mon May 20 2019
*
* @brief Implementation of various utilities neede for resolution class
*
* @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 "resolution_utils.hh"
/* -------------------------------------------------------------------------- */
namespace akantu {
/* -------------------------------------------------------------------------- */
void ResolutionUtils::firstVariationNormalGap(const ContactElement & element,
const Vector<Real> & projection,
const Vector<Real> & normal,
Vector<Real> & delta_g) {
delta_g.clear();
const auto & type = element.master.type;
auto surface_dimension = Mesh::getSpatialDimension(type);
auto spatial_dimension = surface_dimension + 1;
Vector<Real> shapes(Mesh::getNbNodesPerElement(type));
#define GET_SHAPES_NATURAL(type) \
ElementClass<type>::computeShapes(projection, shapes)
AKANTU_BOOST_ALL_ELEMENT_SWITCH(GET_SHAPES_NATURAL);
#undef GET_SHAPES_NATURAL
for (UInt i : arange(spatial_dimension)) {
delta_g[i] = normal[i];
for (UInt j : arange(shapes.size())) {
delta_g[(1 + j) * spatial_dimension + i] = -shapes[j] * normal[i];
}
}
}
/* -------------------------------------------------------------------------- */
void ResolutionUtils::secondVariationNormalGap(const ContactElement & element,
const Matrix<Real> & covariant_basis,
const Matrix<Real> & curvature,
const Vector<Real> & projection,
const Vector<Real> & normal, Real & gap,
Matrix<Real> & ddelta_g) {
const auto & type = element.master.type;
auto surface_dimension = Mesh::getSpatialDimension(type);
auto spatial_dimension = surface_dimension + 1;
UInt nb_nodes = element.getNbNodes();
Array<Real> dnds_n(nb_nodes * spatial_dimension, surface_dimension);
ResolutionUtils::computeNalpha(element, projection, normal, dnds_n);
Array<Real> delta_xi(nb_nodes * spatial_dimension, surface_dimension);
ResolutionUtils::firstVariationNaturalCoordinate(element, covariant_basis,
projection, normal, gap, delta_xi);
Matrix<Real> a_alpha_beta(surface_dimension, surface_dimension);
ResolutionUtils::computeMetricTensor(a_alpha_beta, covariant_basis);
a_alpha_beta = a_alpha_beta.inverse();
Matrix<Real> h_alpha_beta(surface_dimension, surface_dimension);
ResolutionUtils::computeSecondMetricTensor(element, curvature,
normal, h_alpha_beta);
for (auto && values : zip(arange(surface_dimension),
make_view(dnds_n, dnds_n.size()),
make_view(delta_xi, delta_xi.size()))) {
auto & alpha = std::get<0>(values);
auto & dnds_n_alpha = std::get<1>(values);
auto & delta_xi_alpha = std::get<2>(values);
// term 1 from Numerical methods in contact mechanics : Vlad
// Yastrebov eq 2.48
Matrix<Real> mat_n(dnds_n_alpha.storage(), dnds_n_alpha.size(), 1);
Matrix<Real> mat_xi(delta_xi_alpha.storage(), delta_xi_alpha.size(), 1);
Matrix<Real> tmp1(dnds_n_alpha.size(), dnds_n_alpha.size());
tmp1.mul<false, true>(mat_n, mat_xi, -1);
Matrix<Real> tmp2(dnds_n_alpha.size(), dnds_n_alpha.size());
tmp2.mul<false, true>(mat_xi, mat_n, -1);
Matrix<Real> term1(dnds_n_alpha.size(), dnds_n_alpha.size());
term1 = tmp1 + tmp2;
// computing term 2 & term 3 from Numerical methods in contact
// mechanics : Vlad Yastrebov eq 2.48
Matrix<Real> term2(delta_xi_alpha.size(), delta_xi_alpha.size());
Matrix<Real> term3(dnds_n_alpha.size(), dnds_n_alpha.size());
for (auto && values2 : zip(arange(surface_dimension),
make_view(dnds_n, dnds_n.size()),
make_view(delta_xi, delta_xi.size()))) {
auto & beta = std::get<0>(values2);
auto & dnds_n_beta = std::get<1>(values2);
auto & delta_xi_beta = std::get<2>(values2);
// term 2
Matrix<Real> mat_xi_beta(delta_xi_beta.storage(), delta_xi.size(), 1);
Matrix<Real> tmp3(delta_xi_beta.size(), delta_xi_beta.size());
Real pre_factor = h_alpha_beta(alpha, beta);
for (auto k : arange(surface_dimension)) {
for (auto m : arange(surface_dimension)) {
pre_factor -= gap * h_alpha_beta(alpha, k) * a_alpha_beta(k, m) * h_alpha_beta(m, beta);
}
}
pre_factor *= -1.;
tmp3.mul<false, true>(mat_xi, mat_xi_beta, pre_factor);
// term 3
Matrix<Real> mat_n_beta(dnds_n_beta.storage(), dnds_n_beta.size(), 1);
Real factor = gap * a_alpha_beta(alpha, beta);
Matrix<Real> tmp4(dnds_n_alpha.size(), dnds_n_alpha.size());
tmp4.mul<false, true>(mat_n, mat_n_beta, factor);
term3 += tmp4;
}
ddelta_g += term1 + term2 + term3;
}
}
/* -------------------------------------------------------------------------- */
void ResolutionUtils::computeTalpha(const ContactElement & element,
const Matrix<Real> & covariant_basis,
const Vector<Real> & projection, Array<Real> & t_alpha) {
t_alpha.clear();
const auto & type = element.master.type;
auto surface_dimension = Mesh::getSpatialDimension(type);
auto spatial_dimension = surface_dimension + 1;
Vector<Real> shapes(Mesh::getNbNodesPerElement(type));
#define GET_SHAPES_NATURAL(type) \
ElementClass<type>::computeShapes(projection, shapes)
AKANTU_BOOST_ALL_ELEMENT_SWITCH(GET_SHAPES_NATURAL);
#undef GET_SHAPES_NATURAL
for (auto && values :
zip(covariant_basis.transpose(),
make_view(t_alpha, t_alpha.size()))) {
auto & tangent_beta = std::get<0>(values);
auto & t_beta = std::get<1>(values);
for (UInt i : arange(spatial_dimension)) {
t_beta[i] = tangent_beta(i);
for (UInt j : arange(shapes.size())) {
t_beta[(1 + j) * spatial_dimension + i] = -shapes[j] * tangent_beta(i);
}
}
}
}
/* -------------------------------------------------------------------------- */
void ResolutionUtils::computeNalpha(const ContactElement & element, const Vector<Real> & projection,
const Vector<Real> & normal, Array<Real> & n_alpha) {
n_alpha.clear();
const auto & type = element.master.type;
auto surface_dimension = Mesh::getSpatialDimension(type);
auto spatial_dimension = surface_dimension + 1;
Matrix<Real> shape_derivatives(surface_dimension,
Mesh::getNbNodesPerElement(type));
#define GET_SHAPE_DERIVATIVES_NATURAL(type) \
ElementClass<type>::computeDNDS(projection, shape_derivatives)
AKANTU_BOOST_ALL_ELEMENT_SWITCH(GET_SHAPE_DERIVATIVES_NATURAL);
#undef GET_SHAPE_DERIVATIVES_NATURAL
for (auto && values :
zip(shape_derivatives.transpose(),
make_view(n_alpha, n_alpha.size()))) {
auto & dnds = std::get<0>(values);
auto & n_s = std::get<1>(values);
for (UInt i : arange(spatial_dimension)) {
n_s[i] = 0;
for (UInt j : arange(dnds.size())) {
n_s[(1 + j) * spatial_dimension + i] = -dnds(j) * normal[i];
}
}
}
}
/* -------------------------------------------------------------------------- */
void ResolutionUtils::firstVariationNaturalCoordinate(const ContactElement & element,
const Matrix<Real> & covariant_basis,
const Vector<Real> & projection,
const Vector<Real> & normal, const Real & gap,
Array<Real> & delta_xi) {
delta_xi.clear();
const auto & type = element.master.type;
auto surface_dimension = Mesh::getSpatialDimension(type);
auto spatial_dimension = surface_dimension + 1;
Matrix<Real> m_alpha_beta(surface_dimension, surface_dimension);
ResolutionUtils::computeMetricTensor(m_alpha_beta, covariant_basis);
m_alpha_beta = m_alpha_beta.inverse();
auto nb_nodes = element.getNbNodes();
Array<Real> t_alpha(nb_nodes * spatial_dimension, surface_dimension);
Array<Real> n_alpha(nb_nodes * spatial_dimension, surface_dimension);
ResolutionUtils::computeTalpha(element, covariant_basis, projection, t_alpha);
ResolutionUtils::computeNalpha(element, projection, normal, n_alpha);
for (auto && entry :
zip(arange(surface_dimension),
make_view(delta_xi, delta_xi.size()))) {
auto & alpha = std::get<0>(entry);
auto & d_alpha = std::get<1>(entry);
for (auto && values :
zip(arange(surface_dimension),
make_view(t_alpha, t_alpha.size()),
make_view(n_alpha, n_alpha.size()))) {
auto & beta = std::get<0>(values);
auto & t_beta = std::get<1>(values);
auto & n_beta = std::get<2>(values);
d_alpha += (t_beta + gap * n_beta) * m_alpha_beta(alpha, beta);
}
}
}
/* -------------------------------------------------------------------------- */
void ResolutionUtils::computeTalphabeta(Array<Real> & t_alpha_beta,
ContactElement & element) {
t_alpha_beta.clear();
const auto & type = element.master.type;
auto surface_dimension = Mesh::getSpatialDimension(type);
Matrix<Real> shape_derivatives(surface_dimension,
Mesh::getNbNodesPerElement(type));
#define GET_SHAPE_DERIVATIVES_NATURAL(type) \
ElementClass<type>::computeDNDS(element.projection, shape_derivatives)
AKANTU_BOOST_ALL_ELEMENT_SWITCH(GET_SHAPE_DERIVATIVES_NATURAL);
#undef GET_SHAPE_DERIVATIVES_NATURAL
//auto t_alpha_size = t_alpha_beta.size() * surface_dimension;
//auto & tangents = element.tangents;
/*for(auto && entry :
zip(tangents.transpose(),
make_view(t_alpha_beta, t_alpha_size))) {
auto & tangent_s = std::get<0>(entry);
auto & t_alpha = std::get<1>(entry);
for(auto && values :
zip(shape_derivatives.transpose(),
make_view(t_alpha, t_alpha_beta.size()))) {
auto & dnds = std::get<0>(values);
auto & t_alpha_s = std::get<1>(values);
for (UInt i : arange(spatial_dimension)) {
t_alpha_s[i] = 0;
for (UInt j : arange(dnds.size())) {
t_alpha_s[(1 + j) * spatial_dimension + i] = -dnds(j) * tangent_s(i);
}
}
}
}*/
}
/* -------------------------------------------------------------------------- */
void ResolutionUtils::computeNalphabeta(Array<Real> & n_alpha_beta,
ContactElement & element) {
n_alpha_beta.clear();
const auto & type = element.master.type;
auto surface_dimension = Mesh::getSpatialDimension(type);
auto spatial_dimension = surface_dimension + 1;
Matrix<Real> shape_second_derivatives(surface_dimension * surface_dimension,
Mesh::getNbNodesPerElement(type));
#define GET_SHAPE_SECOND_DERIVATIVES_NATURAL(type) \
ElementClass<type>::computeDN2DS2(element.projection, shape_second_derivatives)
AKANTU_BOOST_ALL_ELEMENT_SWITCH(GET_SHAPE_SECOND_DERIVATIVES_NATURAL);
#undef GET_SHAPE_SECOND_DERIVATIVES_NATURAL
for(auto && entry :
zip(shape_second_derivatives.transpose(),
make_view(n_alpha_beta, n_alpha_beta.size()))) {
auto & dn2ds2 = std::get<0>(entry);
auto & n_alpha_s = std::get<1>(entry);
for (UInt i : arange(spatial_dimension)) {
n_alpha_s[i] = 0;
for (UInt j : arange(dn2ds2.size())) {
n_alpha_s[(1 + j) * spatial_dimension + i] = -dn2ds2(j) * element.normal[i];
}
}
}
}
/* -------------------------------------------------------------------------- */
void ResolutionUtils::computePalpha(Array<Real> & p_alpha,
ContactElement & /*element*/) {
p_alpha.clear();
/*const auto & type = element.master.type;
auto surface_dimension = Mesh::getSpatialDimension(type);
auto spatial_dimension = surface_dimension + 1;
Matrix<Real> shape_derivatives(surface_dimension,
Mesh::getNbNodesPerElement(type));
#define GET_SHAPE_DERIVATIVES_NATURAL(type) \
ElementClass<type>::computeDNDS(element.projection, shape_derivatives)
AKANTU_BOOST_ALL_ELEMENT_SWITCH(GET_SHAPE_DERIVATIVES_NATURAL);
#undef GET_SHAPE_DERIVATIVES_NATURAL
auto normalized_traction = element.traction/element.traction.norm();
for(auto && entry :
zip(shape_derivatives.transpose(),
make_view(p_alpha, p_alpha.size()))) {
auto & dnds = std::get<0>(entry);
auto & p_s = std::get<1>(entry);
for(UInt i : arange(spatial_dimension)) {
p_s[i] = 0;
for(UInt j : arange(dnds.size())){
p_s[(1 + j) * spatial_dimension + i] = -dnds(j) * normalized_traction[i];
}
}
}*/
}
/* -------------------------------------------------------------------------- */
void ResolutionUtils::computeGalpha(Array<Real> & g_alpha, Array<Real> & t_alpha_beta,
Array<Real> & d_alpha, Matrix<Real> & phi,
ContactElement & element) {
g_alpha.clear();
const auto & type = element.master.type;
auto surface_dimension = Mesh::getSpatialDimension(type);
auto & tangents = element.tangents;
auto tangential_gap = element.projection - element.previous_projection;
for(auto alpha : arange(surface_dimension)) {
auto & g_a = g_alpha[alpha];
auto & tangent_alpha = tangents[alpha];
for(auto beta : arange(surface_dimension)) {
auto & t_a_b = t_alpha_beta(alpha, beta);
auto & t_b_a = t_alpha_beta(beta, alpha);
auto & gt_beta = tangential_gap[beta];
auto & tangents_beta = tangents[beta];
for(auto gamma : arange(surface_dimension)) {
auto & d_gamma = d_alpha(gamma);
auto tmp = phi(beta, gamma) * tangent_alpha + phi(alpha,gamma) * tangents_beta;
g_a += (-t_a_b - t_b_a + tmp * d_gamma)*gt_beta;
}
}
}
}
/* -------------------------------------------------------------------------- */
void ResolutionUtils::computeMetricTensor(Matrix<Real> & m_alpha_beta, const Matrix<Real> & tangents) {
m_alpha_beta.mul<false, true>(tangents, tangents);
}
/* -------------------------------------------------------------------------- */
void ResolutionUtils::computeSecondMetricTensor(const ContactElement & element,
const Matrix<Real> & curvature,
const Vector<Real> & normal,
Matrix<Real> & metric) {
const auto & type = element.master.type;
auto surface_dimension = Mesh::getSpatialDimension(type);
auto i = 0;
for (auto alpha : arange(surface_dimension) ) {
for (auto beta : arange(surface_dimension)) {
Vector<Real> temp(curvature(i));
metric(alpha, beta) = normal.dot(temp);
i++;
}
}
}
/* -------------------------------------------------------------------------- */
void ResolutionUtils::assembleToInternalForce(Vector<Real> & local_array,
Array<Real> & global_array,
Array<Real> & nodal_area,
ContactElement & element, bool is_master_deformable) {
const auto & conn = element.connectivity;
UInt nb_dofs = global_array.getNbComponent();
auto slave_node = conn[0];
UInt total_nodes = 1;
if (is_master_deformable) {
total_nodes = conn.size();
}
for (UInt i : arange(total_nodes)) { // 1 to only consider slave node
UInt n = conn[i];
for (UInt j : arange(nb_dofs)) {
UInt offset_node = n * nb_dofs + j;
global_array[offset_node] += local_array[i * nb_dofs + j] * nodal_area[slave_node];
}
}
}
/* -------------------------------------------------------------------------- */
void ResolutionUtils::assembleToStiffnessMatrix(Matrix<Real> & /*local_matrix*/, Matrix<Real> & /*global_matrix*/,
Array<Real> & /*nodal_area*/, ContactElement & /*element*/) {
}
} //akantu
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