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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: Tue Sep 16 2014
*
* @brief Model of Solid Mechanics
*
* @section LICENSE
*
* Copyright (©) 2010-2012, 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_SOLID_MECHANICS_MODEL_HH__
#define __AKANTU_SOLID_MECHANICS_MODEL_HH__
/* -------------------------------------------------------------------------- */
#include <fstream>
/* -------------------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
#include "aka_common.hh"
#include "aka_types.hh"
#include "model.hh"
#include "data_accessor.hh"
#include "mesh.hh"
#include "dumpable.hh"
#include "boundary_condition.hh"
#include "integrator_gauss.hh"
#include "shape_lagrange.hh"
#include "integration_scheme_2nd_order.hh"
#include "solver.hh"
#include "material_selector.hh"
#include "solid_mechanics_model_event_handler.hh"
/* -------------------------------------------------------------------------- */
namespace akantu {
class Material;
class IntegrationScheme2ndOrder;
class SparseMatrix;
class DumperIOHelper;
}
/* -------------------------------------------------------------------------- */
__BEGIN_AKANTU__
struct SolidMechanicsModelOptions : public ModelOptions {
SolidMechanicsModelOptions(AnalysisMethod analysis_method = _explicit_lumped_mass,
bool no_init_materials = false) :
analysis_method(analysis_method),
no_init_materials(no_init_materials) { }
AnalysisMethod analysis_method;
bool no_init_materials;
};
extern const SolidMechanicsModelOptions default_solid_mechanics_model_options;
class SolidMechanicsModel : public Model,
public DataAccessor,
public MeshEventHandler,
public BoundaryCondition<SolidMechanicsModel>,
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;
};
typedef FEEngineTemplate <IntegratorGauss, ShapeLagrange> MyFEEngineType;
protected:
typedef EventHandlerManager <SolidMechanicsModelEventHandler> EventManager;
public:
SolidMechanicsModel(Mesh & mesh,
UInt spatial_dimension = _all_dimensions,
const ID & id = "solid_mechanics_model",
const MemoryID & memory_id = 0);
virtual ~SolidMechanicsModel();
/* ------------------------------------------------------------------------ */
/* Methods */
/* ------------------------------------------------------------------------ */
public:
/// initialize completely the model
virtual void initFull(const ModelOptions & options = default_solid_mechanics_model_options);
/// initialize the fem object needed for boundary conditions
void initFEEngineBoundary();
/// register the tags associated with the parallel synchronizer
void initParallel(MeshPartition *partition, DataAccessor *data_accessor = NULL);
/// allocate all vectors
void initArrays();
/// allocate all vectors
void initArraysPreviousDisplacment();
/// initialize all internal arrays for materials
virtual void initMaterials();
/// initialize the model
virtual void initModel();
/// init PBC synchronizer
void initPBC();
/// function to print the containt of the class
virtual void printself(std::ostream & stream, int indent = 0) const;
/// re-initialize model to set fields to 0
void reInitialize();
/* ------------------------------------------------------------------------ */
/* PBC */
/* ------------------------------------------------------------------------ */
public:
/// change the equation number for proper assembly when using PBC
// void changeEquationNumberforPBC(std::map <UInt, UInt> & pbc_pair);
/// synchronize Residual for output
void synchronizeResidual();
protected:
/// register PBC synchronizer
void registerPBCSynchronizer();
/* ------------------------------------------------------------------------ */
/* Explicit */
/* ------------------------------------------------------------------------ */
public:
/// initialize the stuff for the explicit scheme
void initExplicit(AnalysisMethod analysis_method = _explicit_lumped_mass);
bool isExplicit() {
return method == _explicit_lumped_mass || method == _explicit_consistent_mass;
}
/// initialize the array needed by updateResidual (residual, current_position)
void initializeUpdateResidualData();
/// update the current position vector
void updateCurrentPosition();
/// assemble the residual for the explicit scheme
virtual void updateResidual(bool need_initialize = true);
/**
* \brief compute the acceleration from the residual
* this function is the explicit equivalent to solveDynamic in implicit
* In the case of lumped mass just divide the residual by the mass
* In the case of not lumped mass call solveDynamic<_acceleration_corrector>
*/
void updateAcceleration();
void updateIncrement();
void updatePreviousDisplacement();
void saveStressAndStrainBeforeDamage();
void updateEnergiesAfterDamage();
/// Solve the system @f[ A x = \alpha b @f] with A a lumped matrix
void solveLumped(Array <Real> & x,
const Array <Real> & A,
const Array <Real> & b,
const Array <bool> & blocked_dofs,
Real alpha);
/// explicit integration predictor
void explicitPred();
/// explicit integration corrector
void explicitCorr();
public:
void solveStep();
/* ------------------------------------------------------------------------ */
/* Implicit */
/* ------------------------------------------------------------------------ */
public:
/// initialize the solver and the jacobian_matrix (called by initImplicit)
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);
/// solve Ma = f to get the initial acceleration
void initialAcceleration();
/// assemble the stiffness matrix
void assembleStiffnessMatrix();
public:
/**
* 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,
bool do_not_factorize = false);
public:
/**
* solve Ku = f using the the given convergence method (see
* akantu::SolveConvergenceMethod) and the given convergence
* criteria (see akantu::SolveConvergenceCriteria)
**/
template <SolveConvergenceMethod cmethod, SolveConvergenceCriteria criteria>
bool solveStatic(Real tolerance, UInt max_iteration,
bool do_not_factorize = false);
/// test if the system is converged
template <SolveConvergenceCriteria criteria>
bool testConvergence(Real tolerance, Real & error);
/// test the convergence (norm of increment)
bool testConvergenceIncrement(Real tolerance) __attribute__((deprecated));
bool testConvergenceIncrement(Real tolerance, Real & error) __attribute__((deprecated));
/// test the convergence (norm of residual)
bool testConvergenceResidual(Real tolerance) __attribute__((deprecated));
bool testConvergenceResidual(Real tolerance, Real & error) __attribute__((deprecated));
/// create and return the velocity damping matrix
SparseMatrix & initVelocityDampingMatrix();
/// implicit time integration predictor
void implicitPred();
/// implicit time integration corrector
void implicitCorr();
/// compute the Cauchy stress on user demand.
void computeCauchyStresses();
protected:
/// finish the computation of residual to solve in increment
void updateResidualInternal();
/// compute the support reaction and store it in force
void updateSupportReaction();
protected:
/// 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.,
bool need_factorize = true, bool has_profile_changed = false);
private:
/// re-initialize the J matrix (to use if the profile of K changed)
void initJacobianMatrix();
/* ------------------------------------------------------------------------ */
/* Explicit/Implicit */
/* ------------------------------------------------------------------------ */
public:
/// Update the stresses for the computation of the residual of the Stiffness
/// matrix in the case of finite deformation
void computeStresses();
/// synchronize the ghost element boundaries values
void synchronizeBoundaries();
/* ------------------------------------------------------------------------ */
/* Materials (solid_mechanics_model_material.cc) */
/* ------------------------------------------------------------------------ */
public:
/// registers all the custom materials of a given type present in the input file
template <typename M>
void registerNewCustomMaterials(const ID & mat_type);
/// register an empty material of a given type
template <typename M>
Material & registerNewEmptyMaterial(const std::string & name);
// /// Use a UIntData in the mesh to specify the material to use per element
// void setMaterialIDsFromIntData(const std::string & data_name);
/// reassigns materials depending on the material selector
virtual void reassignMaterial();
protected:
/// register a material in the dynamic database
template <typename M>
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
void assignMaterialToElements(const ElementTypeMapArray<UInt> * filter = NULL);
/* ------------------------------------------------------------------------ */
/* Mass (solid_mechanics_model_mass.cc) */
/* ------------------------------------------------------------------------ */
public:
/// assemble the lumped mass matrix
void assembleMassLumped();
/// assemble the mass matrix for consistent mass resolutions
void assembleMass();
protected:
/// 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);
/// fill a vector of rho
void computeRho(Array <Real> & rho,
ElementType type,
GhostType ghost_type);
/* ------------------------------------------------------------------------ */
/* Data Accessor inherited members */
/* ------------------------------------------------------------------------ */
public:
inline virtual UInt getNbDataForElements(const Array <Element> & elements,
SynchronizationTag tag) const;
inline virtual void packElementData(CommunicationBuffer & buffer,
const Array <Element> & elements,
SynchronizationTag tag) const;
inline virtual void unpackElementData(CommunicationBuffer & buffer,
const Array <Element> & elements,
SynchronizationTag tag);
inline virtual UInt getNbDataToPack(SynchronizationTag tag) const;
inline virtual UInt getNbDataToUnpack(SynchronizationTag tag) const;
inline virtual void packData(CommunicationBuffer & buffer,
const UInt index,
SynchronizationTag tag) const;
inline virtual void unpackData(CommunicationBuffer & buffer,
const UInt index,
SynchronizationTag tag);
protected:
inline void splitElementByMaterial(const Array <Element> & elements,
Array <Element> * elements_per_mat) const;
/* ------------------------------------------------------------------------ */
/* Mesh Event Handler inherited members */
/* ------------------------------------------------------------------------ */
protected:
virtual void onNodesAdded(const Array <UInt> & nodes_list,
const NewNodesEvent & event);
virtual void onNodesRemoved(const Array <UInt> & element_list,
const Array <UInt> & new_numbering,
const RemovedNodesEvent & event);
virtual void onElementsAdded(const Array <Element> & nodes_list,
const NewElementsEvent & event);
virtual void onElementsRemoved(const Array <Element> & element_list,
const ElementTypeMapArray<UInt> & new_numbering,
const RemovedElementsEvent & event);
/* ------------------------------------------------------------------------ */
/* 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, const ElementKind & element_kind);
#ifndef SWIG
//! give the amount of data per element
virtual ElementTypeMap<UInt> getInternalDataPerElem(const std::string & field_name,
const ElementKind & kind);
//! flatten a given material internal field
ElementTypeMapArray<Real> & flattenInternal(const std::string & field_name,
const ElementKind & kind,
const GhostType ghost_type = _not_ghost);
//! flatten all the registered material internals
void flattenAllRegisteredInternals(const ElementKind & kind);
#endif
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 UInt & spatial_dimension,
const ElementKind & kind);
virtual void dump(const std::string & dumper_name);
virtual void dump(const std::string & dumper_name, UInt step);
virtual void dump(const std::string & dumper_name, Real time, UInt step);
virtual void dump();
virtual void dump(UInt step);
virtual void dump(Real time, UInt step);
/* ------------------------------------------------------------------------ */
/* Accessors */
/* ------------------------------------------------------------------------ */
public:
/// return the dimension of the system space
AKANTU_GET_MACRO(SpatialDimension, spatial_dimension, UInt);
/// get the current value of the time step
AKANTU_GET_MACRO(TimeStep, time_step, Real);
/// set the value of the time step
void setTimeStep(Real time_step);
/// return the of iterations done in the last solveStep
AKANTU_GET_MACRO(NumberIter, n_iter, UInt);
/// 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 vector
AKANTU_GET_MACRO(Displacement, *displacement, Array <Real> &);
/// get the SolidMechanicsModel::previous_displacement vector
AKANTU_GET_MACRO(PreviousDisplacement, *previous_displacement, Array <Real> &);
/// get the SolidMechanicsModel::current_position vector \warn only consistent
/// after a call to SolidMechanicsModel::updateCurrentPosition
AKANTU_GET_MACRO(CurrentPosition, *current_position, const Array <Real> &);
/// get the SolidMechanicsModel::increment vector \warn only consistent if
/// SolidMechanicsModel::setIncrementFlagOn has been called before
AKANTU_GET_MACRO(Increment, *increment, Array <Real> &);
/// get the lumped SolidMechanicsModel::mass vector
AKANTU_GET_MACRO(Mass, *mass, Array <Real> &);
/// get the SolidMechanicsModel::velocity vector
AKANTU_GET_MACRO(Velocity, *velocity, Array <Real> &);
/// get the SolidMechanicsModel::acceleration vector, updated by
/// SolidMechanicsModel::updateAcceleration
AKANTU_GET_MACRO(Acceleration, *acceleration, Array <Real> &);
/// get the SolidMechanicsModel::force vector (boundary forces)
AKANTU_GET_MACRO(Force, *force, Array <Real> &);
/// get the SolidMechanicsModel::residual vector, computed by
/// SolidMechanicsModel::updateResidual
AKANTU_GET_MACRO(Residual, *residual, Array <Real> &);
/// get the SolidMechanicsModel::blocked_dofs vector
AKANTU_GET_MACRO(BlockedDOFs, *blocked_dofs, Array <bool> &);
/// get the SolidMechnicsModel::incrementAcceleration vector
AKANTU_GET_MACRO(IncrementAcceleration, *increment_acceleration, Array <Real> &);
/// get the value of the SolidMechanicsModel::increment_flag
AKANTU_GET_MACRO(IncrementFlag, increment_flag, bool);
/// get a particular material (by material index)
inline Material & getMaterial(UInt mat_index);
/// get a particular material (by 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();
}
inline void setMaterialSelector(MaterialSelector & selector);
/// give the material internal index from its id
Int getInternalIndexFromID(const ID & id) const;
/// compute the stable time step
Real getStableTimeStep();
/// compute the potential energy
Real getPotentialEnergy();
/// compute the kinetic energy
Real getKineticEnergy();
Real getKineticEnergy(const ElementType & type, UInt index);
/// compute the external work (for impose displacement, the velocity should be given too)
Real getExternalWork();
/// get the energies
Real getEnergy(const std::string & energy_id);
/// compute the energy for energy
Real getEnergy(const std::string & energy_id, const ElementType & type, UInt index);
/**
* @brief set the SolidMechanicsModel::increment_flag to on, the activate the
* update of the SolidMechanicsModel::increment vector
*/
void setIncrementFlagOn();
/// get the stiffness matrix
AKANTU_GET_MACRO(StiffnessMatrix, *stiffness_matrix, SparseMatrix &);
/// get the global jacobian matrix of the system
AKANTU_GET_MACRO(GlobalJacobianMatrix, *jacobian_matrix, const SparseMatrix &);
/// get the mass matrix
AKANTU_GET_MACRO(MassMatrix, *mass_matrix, SparseMatrix &);
/// get the velocity damping matrix
AKANTU_GET_MACRO(VelocityDampingMatrix, *velocity_damping_matrix, SparseMatrix &);
/// get the FEEngine object to integrate or interpolate on the boundary
inline FEEngine & getFEEngineBoundary(const ID & name = "");
/// get integrator
AKANTU_GET_MACRO(Integrator, *integrator, const IntegrationScheme2ndOrder &);
/// get access to the internal solver
AKANTU_GET_MACRO(Solver, *solver, Solver &);
/// get synchronizer
AKANTU_GET_MACRO(Synchronizer, *synch_parallel, const DistributedSynchronizer &);
AKANTU_GET_MACRO(MaterialByElement, material_index, 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);
/// Get the type of analysis method used
AKANTU_GET_MACRO(AnalysisMethod, method, AnalysisMethod);
template <int dim, class model_type>
friend struct ContactData;
template <int Dim, AnalysisMethod s, ContactResolutionMethod r>
friend class ContactResolution;
protected:
friend class Material;
protected:
/// compute the stable time step
Real getStableTimeStep(const GhostType & ghost_type);
/* ------------------------------------------------------------------------ */
/* Class Members */
/* ------------------------------------------------------------------------ */
protected:
/// number of iterations
UInt n_iter;
/// time step
Real time_step;
/// conversion coefficient form force/mass to acceleration
Real f_m2a;
/// displacements array
Array <Real> *displacement;
/// displacements array at the previous time step (used in finite deformation)
Array <Real> *previous_displacement;
/// lumped mass array
Array <Real> *mass;
/// velocities array
Array <Real> *velocity;
/// accelerations array
Array <Real> *acceleration;
/// accelerations array
Array <Real> *increment_acceleration;
/// forces array
Array <Real> *force;
/// residuals array
Array <Real> *residual;
/// array specifing if a degree of freedom is blocked or not
Array <bool> *blocked_dofs;
/// array of current position used during update residual
Array <Real> *current_position;
/// mass matrix
SparseMatrix *mass_matrix;
/// velocity damping matrix
SparseMatrix *velocity_damping_matrix;
/// stiffness matrix
SparseMatrix *stiffness_matrix;
/// jacobian matrix @f[A = cM + dD + K@f] with @f[c = \frac{1}{\beta \Delta
/// t^2}, d = \frac{\gamma}{\beta \Delta t} @f]
SparseMatrix *jacobian_matrix;
/// 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 <Material *> materials;
/// mapping between material name and material internal id
std::map <std::string, UInt> materials_names_to_id;
/// class defining of to choose a material
MaterialSelector *material_selector;
/// define if it is the default selector or not
bool is_default_material_selector;
/// integration scheme of second order used
IntegrationScheme2ndOrder *integrator;
/// increment of displacement
Array <Real> *increment;
/// flag defining if the increment must be computed or not
bool increment_flag;
/// solver for implicit
Solver *solver;
/// analysis method check the list in akantu::AnalysisMethod
AnalysisMethod method;
/// internal synchronizer for parallel computations
DistributedSynchronizer *synch_parallel;
/// tells if the material are instantiated
bool are_materials_instantiated;
/// map a registered internals to be flattened for dump purposes
std::map<std::pair<std::string,ElementKind>,ElementTypeMapArray<Real> *> registered_internals;
};
/* -------------------------------------------------------------------------- */
namespace BC {
namespace Neumann {
typedef FromHigherDim FromStress;
typedef FromSameDim FromTraction;
}
}
__END_AKANTU__
/* -------------------------------------------------------------------------- */
/* inline functions */
/* -------------------------------------------------------------------------- */
#include "parser.hh"
#include "material.hh"
__BEGIN_AKANTU__
#include "solid_mechanics_model_tmpl.hh"
#if defined (AKANTU_INCLUDE_INLINE_IMPL)
# include "solid_mechanics_model_inline_impl.cc"
#endif
/// standard output stream operator
inline std::ostream & operator << (std::ostream & stream, const SolidMechanicsModel &_this) {
_this.printself(stream);
return stream;
}
__END_AKANTU__
#include "material_selector_tmpl.hh"
#endif /* __AKANTU_SOLID_MECHANICS_MODEL_HH__ */
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