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contact_search_explicit.cc
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/**
* @file contact_search_explicit.cc
* @author David Kammer <david.kammer@epfl.ch>
* @date Tue Oct 26 18:49:04 2010
*
* @brief Specialization of the contact search structure for 3D within an
* explicit time scheme
*
* @section LICENSE
*
* Copyright (©) 2010-2011 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 "regular_grid_neighbor_structure.hh"
#include "contact_search_explicit.hh"
__BEGIN_AKANTU__
/* -------------------------------------------------------------------------- */
ContactSearchExplicit::ContactSearchExplicit(Contact & contact,
const ContactNeighborStructureType & neighbors_structure_type,
const ContactSearchType & type,
const ContactSearchID & id) :
ContactSearch(contact, neighbors_structure_type, type, id), spatial_dimension(contact.getModel().getSpatialDimension()), mesh(contact.getModel().getFEM().getMesh()) {
AKANTU_DEBUG_IN();
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void ContactSearchExplicit::findPenetration(const Surface & master_surface, PenetrationList & penetration_list) {
AKANTU_DEBUG_IN();
/// get the NodesNeighborList for the given master surface
std::map<Surface, ContactNeighborStructure *>::iterator it_surface;
for (it_surface = neighbors_structure.begin(); it_surface != neighbors_structure.end(); ++it_surface) {
if(it_surface->first == master_surface) {
break;
}
}
AKANTU_DEBUG_ASSERT(it_surface != neighbors_structure.end(),
"Master surface not found in this search object " << id);
const NodesNeighborList & neighbor_list = dynamic_cast<const NodesNeighborList&>(it_surface->second->getNeighborList());
UInt nb_impactor_nodes = neighbor_list.impactor_nodes.getSize();
Vector<UInt> * closest_master_nodes = new Vector<UInt>(nb_impactor_nodes, 1);
Vector<bool> * has_closest_master_node = new Vector<bool>(nb_impactor_nodes, 1, false);
findClosestMasterNodes(master_surface, closest_master_nodes, has_closest_master_node);
UInt * closest_master_nodes_val = closest_master_nodes->values;
bool * has_closest_master_node_val = has_closest_master_node->values;
/// get list of impactor and master nodes from neighbor list
UInt * impactor_nodes_val = neighbor_list.impactor_nodes.values;
//const Mesh & mesh = contact.getModel().getFEM().getMesh();
const Mesh::ConnectivityTypeList & type_list = mesh.getConnectivityTypeList();
Mesh::ConnectivityTypeList::const_iterator it;
/// find existing surface element types
UInt nb_types = type_list.size();
UInt nb_facet_types = 0;
ElementType facet_type[_max_element_type];
for(it = type_list.begin(); it != type_list.end(); ++it) {
ElementType type = *it;
if(mesh.getSpatialDimension(type) == spatial_dimension) {
ElementType current_facet_type = mesh.getFacetElementType(type);
facet_type[nb_facet_types++] = current_facet_type;
/// initialization of penetration list
std::stringstream sstr_facets_offset;
sstr_facets_offset << id << ":penetrated_facets_offset:" << current_facet_type;
penetration_list.penetrated_facets_offset[current_facet_type] = new Vector<UInt>(0, 1, sstr_facets_offset.str());
std::stringstream sstr_facets;
sstr_facets << id << ":penetrated_facets:" << current_facet_type;
penetration_list.penetrated_facets[current_facet_type] = new Vector<UInt>(0, 1, sstr_facets.str());
std::stringstream sstr_normals;
sstr_normals << id << ":facets_normals:" << current_facet_type;
penetration_list.facets_normals[current_facet_type] = new Vector<Real>(0, spatial_dimension, sstr_normals.str());
std::stringstream sstr_gaps;
sstr_gaps << id << ":gaps:" << current_facet_type;
penetration_list.gaps[current_facet_type] = new Vector<Real>(0, 1, sstr_gaps.str());
std::stringstream sstr_projected_positions;
sstr_projected_positions << id << ":projected_positions:" << current_facet_type;
penetration_list.projected_positions[current_facet_type] = new Vector<Real>(0, spatial_dimension, sstr_projected_positions.str());
}
}
for(UInt in = 0; in < nb_impactor_nodes; ++in) {
if (!has_closest_master_node_val[in])
continue;
UInt current_impactor_node = impactor_nodes_val[in];
UInt closest_master_node = closest_master_nodes_val[in];
std::vector<Element> surface_elements;
Vector<bool> * are_inside = new Vector<bool>(0, 1);
Vector<bool> * are_in_projection_area = new Vector<bool>(0, 1);
Element considered_element;
for (UInt el_type = 0; el_type < nb_facet_types; ++el_type) {
ElementType type = facet_type[el_type];
UInt * surface_id_val = mesh.getSurfaceId(type).values;
const Vector<UInt> & node_to_elements_offset = contact.getNodeToElementsOffset(type);
const Vector<UInt> & node_to_elements = contact.getNodeToElements(type);
UInt * node_to_elements_offset_val = node_to_elements_offset.values;
UInt * node_to_elements_val = node_to_elements.values;
UInt min_element_offset = node_to_elements_offset_val[closest_master_node];
UInt max_element_offset = node_to_elements_offset_val[closest_master_node + 1];
considered_element.type = type;
for(UInt el = min_element_offset; el < max_element_offset; ++el) {
UInt surface_element = node_to_elements_val[el];
if(surface_id_val[surface_element] == master_surface) {
bool is_inside;
bool is_in_projection_area;
checkPenetrationSituation(current_impactor_node,
surface_element,
type,
is_inside,
is_in_projection_area);
considered_element.element = surface_element;
surface_elements.push_back(considered_element);
are_inside->push_back(is_inside);
are_in_projection_area->push_back(is_in_projection_area);
}
}
}
UInt nb_penetrated_elements = 0;
UInt nb_elements_type[_max_element_type]; memset(nb_elements_type, 0, sizeof(UInt) * _max_element_type);
bool * are_inside_val = are_inside->values;
bool * are_in_projection_area_val = are_in_projection_area->values;
bool is_outside = false;
UInt nb_surface_elements = static_cast<UInt>(surface_elements.size());
// add all elements for which impactor is inside and in projection area
for(UInt el = 0; el < nb_surface_elements; ++el) {
if(are_inside_val[el] && are_in_projection_area_val[el]) {
ElementType current_type = surface_elements.at(el).type;
UInt current_element = surface_elements.at(el).element;
penetration_list.penetrated_facets[current_type]->push_back(current_element);
Real normal[3];
Real projected_position[3];
Real gap;
computeComponentsOfProjection(current_impactor_node,
current_element,
current_type,
normal,
gap,
projected_position);
penetration_list.facets_normals[current_type]->push_back(normal);
penetration_list.projected_positions[current_type]->push_back(projected_position);
penetration_list.gaps[current_type]->push_back(gap);
nb_penetrated_elements++;
nb_elements_type[current_type]++;
}
}
if(nb_penetrated_elements > 0) {
for(it = type_list.begin(); it != type_list.end(); ++it) {
ElementType type = *it;
if(mesh.getSpatialDimension(type) == spatial_dimension) {
penetration_list.penetrating_nodes.push_back(current_impactor_node);
ElementType current_facet_type = mesh.getFacetElementType(type);
penetration_list.penetrated_facets_offset[current_facet_type]->push_back(nb_elements_type[current_facet_type]);
}
}
}
// if there was no element which is inside and in projection area
// check if node is not definitly outside
else {
for(UInt el = 0; el < nb_surface_elements && !is_outside; ++el) {
if(!are_inside_val[el] && are_in_projection_area_val[el]) {
is_outside = true;
}
}
// it is not definitly outside take all elements to which it is at least inside
if(!is_outside) {
bool found_inside_node = false;
for(UInt el = 0; el < nb_surface_elements; ++el) {
if(are_inside_val[el] && !are_in_projection_area_val[el]) {
ElementType current_type = surface_elements.at(el).type;
UInt current_element = surface_elements.at(el).element;
penetration_list.penetrated_facets[current_type]->push_back(current_element);
Real normal[3];
Real projected_position[3];
Real gap;
computeComponentsOfProjection(current_impactor_node,
current_element,
current_type,
normal,
gap,
projected_position);
penetration_list.facets_normals[current_type]->push_back(normal);
penetration_list.projected_positions[current_type]->push_back(projected_position);
penetration_list.gaps[current_type]->push_back(gap);
nb_penetrated_elements++;
nb_elements_type[current_type]++;
found_inside_node = true;
}
}
if(found_inside_node) {
for(it = type_list.begin(); it != type_list.end(); ++it) {
ElementType type = *it;
if(mesh.getSpatialDimension(type) == spatial_dimension) {
penetration_list.penetrating_nodes.push_back(current_impactor_node);
ElementType current_facet_type = mesh.getFacetElementType(type);
penetration_list.penetrated_facets_offset[current_facet_type]->push_back(nb_elements_type[current_facet_type]);
}
}
}
}
}
delete are_in_projection_area;
delete are_inside;
}
// make the offset table a real offset table
for(it = type_list.begin(); it != type_list.end(); ++it) {
ElementType type = *it;
if(mesh.getSpatialDimension(type) == spatial_dimension) {
ElementType current_facet_type = mesh.getFacetElementType(type);
UInt tmp_nb_facets = penetration_list.penetrated_facets_offset[current_facet_type]->getSize();
penetration_list.penetrated_facets_offset[current_facet_type]->resize(tmp_nb_facets+1);
Vector<UInt> & tmp_penetrated_facets_offset = *(penetration_list.penetrated_facets_offset[current_facet_type]);
UInt * tmp_penetrated_facets_offset_val = tmp_penetrated_facets_offset.values;
for (UInt i = 1; i < tmp_nb_facets; ++i)
tmp_penetrated_facets_offset_val[i] += tmp_penetrated_facets_offset_val[i - 1];
for (UInt i = tmp_nb_facets; i > 0; --i)
tmp_penetrated_facets_offset_val[i] = tmp_penetrated_facets_offset_val[i - 1];
tmp_penetrated_facets_offset_val[0] = 0;
}
}
delete closest_master_nodes;
delete has_closest_master_node;
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void ContactSearchExplicit::findClosestMasterNodes(const Surface & master_surface,
Vector<UInt> * closest_master_nodes,
Vector<bool> * has_closest_master_node) {
AKANTU_DEBUG_IN();
bool * has_closest_master_node_val = has_closest_master_node->values;
UInt * closest_master_nodes_val = closest_master_nodes->values;
/// get the NodesNeighborList for the given master surface
std::map<Surface, ContactNeighborStructure *>::iterator it;
for (it = neighbors_structure.begin(); it != neighbors_structure.end(); ++it) {
if(it->first == master_surface) {
break;
}
}
AKANTU_DEBUG_ASSERT(it != neighbors_structure.end(), "Master surface not found in this search object " << id);
const NodesNeighborList & neighbor_list = dynamic_cast<const NodesNeighborList&>(it->second->getNeighborList());
/// get list of impactor and master nodes from neighbor list
UInt * impactor_nodes_val = neighbor_list.impactor_nodes.values;
UInt * master_nodes_offset_val = neighbor_list.master_nodes_offset.values;
UInt * master_nodes_val = neighbor_list.master_nodes.values;
/// loop over all impactor nodes and find for each the closest master node
UInt nb_impactor_nodes = neighbor_list.impactor_nodes.getSize();
for(UInt imp = 0; imp < nb_impactor_nodes; ++imp) {
UInt current_impactor_node = impactor_nodes_val[imp];
UInt min_offset = master_nodes_offset_val[imp];
UInt max_offset = master_nodes_offset_val[imp + 1];
// if there is no master node go to next impactor node
if (min_offset == max_offset)
continue;
Real min_square_distance = std::numeric_limits<Real>::max();
UInt closest_master_node = (UInt)-1; // for finding error
for(UInt mn = min_offset; mn < max_offset; ++mn) {
UInt current_master_node = master_nodes_val[mn];
Real square_distance = computeSquareDistanceBetweenNodes(current_impactor_node, current_master_node);
if(min_square_distance > square_distance) {
min_square_distance = square_distance;
closest_master_node = current_master_node;
}
}
AKANTU_DEBUG_ASSERT(closest_master_node != ((UInt)-1), "could not find a closest master node for impactor node: " << current_impactor_node);
has_closest_master_node_val[imp] = true;
closest_master_nodes_val[imp] = closest_master_node;
}
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void ContactSearchExplicit::computeComponentsOfProjection(const UInt impactor_node,
const UInt surface_element,
const ElementType type,
Real * normal,
Real & gap,
Real * projected_position) {
AKANTU_DEBUG_IN();
switch(type) {
case _segment_2: {
computeComponentsOfProjectionSegment2(impactor_node, surface_element, normal, gap, projected_position);
break;
}
case _triangle_3: {
computeComponentsOfProjectionTriangle3(impactor_node, surface_element, normal, gap, projected_position);
break;
}
case _not_defined: {
AKANTU_DEBUG_ERROR("Not a valid surface element type : " << type);
break;
}
}
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void ContactSearchExplicit::checkPenetrationSituation(const UInt impactor_node,
const UInt surface_element,
const ElementType type,
bool & is_inside,
bool & is_in_projection_area) {
AKANTU_DEBUG_IN();
switch(type) {
case _segment_2: {
checkPenetrationSituationSegment2(impactor_node, surface_element, is_inside, is_in_projection_area);
break;
}
case _triangle_3: {
checkPenetrationSituationTriangle3(impactor_node, surface_element, is_inside, is_in_projection_area);
break;
}
case _not_defined: {
AKANTU_DEBUG_ERROR("Not a valid surface element type : " << type);
break;
}
}
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void ContactSearchExplicit::computeComponentsOfProjectionSegment2(const UInt impactor_node,
const UInt surface_element,
Real * normal,
Real & gap,
Real * projected_position) {
AKANTU_DEBUG_IN();
const UInt dim = spatial_dimension;
const ElementType type = _segment_2;
const UInt nb_nodes_element = Mesh::getNbNodesPerElement(type);
Real * current_position = contact.getModel().getCurrentPosition().values;
UInt * connectivity = mesh.getConnectivity(type).values;
UInt node_1 = surface_element * nb_nodes_element;
Real * position_node_1 = &(current_position[connectivity[node_1 + 0] * spatial_dimension]);
Real * position_node_2 = &(current_position[connectivity[node_1 + 1] * spatial_dimension]);
Real * position_impactor_node = &(current_position[impactor_node * spatial_dimension]);
/// compute the normal of the face
Real vector_1[2];
Math::vector_2d(position_node_1, position_node_2, vector_1); /// @todo: check if correct order of nodes !!
Math::normal2(vector_1, normal);
/// compute the gap between impactor and face
/// gap positive if impactor outside of surface
Real vector_node_1_impactor[2];
Math::vector_2d(position_node_1, position_impactor_node, vector_node_1_impactor);
gap = Math::vectorDot2(vector_node_1_impactor, normal);
/// compute the projected position of the impactor node onto the face
for(UInt i=0; i < dim; ++i) {
projected_position[i] = position_impactor_node[i] - gap * normal[i];
}
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void ContactSearchExplicit::computeComponentsOfProjectionTriangle3(const UInt impactor_node,
const UInt surface_element,
Real * normal,
Real & gap,
Real * projected_position) {
AKANTU_DEBUG_IN();
const UInt dim = spatial_dimension;
const ElementType type = _triangle_3;
const UInt nb_nodes_element = Mesh::getNbNodesPerElement(type);
Real * current_position = contact.getModel().getCurrentPosition().values;
UInt * connectivity = mesh.getConnectivity(type).values;
UInt node_1 = surface_element * nb_nodes_element;
Real * position_node_1 = &(current_position[connectivity[node_1 + 0] * spatial_dimension]);
Real * position_node_2 = &(current_position[connectivity[node_1 + 1] * spatial_dimension]);
Real * position_node_3 = &(current_position[connectivity[node_1 + 2] * spatial_dimension]);
Real * position_impactor_node = &(current_position[impactor_node * spatial_dimension]);
/// compute the normal of the face
Real vector_1[3];
Real vector_2[3];
Math::vector_3d(position_node_1, position_node_2, vector_1); /// @todo: check if correct order of nodes !!
Math::vector_3d(position_node_1, position_node_3, vector_2);
Math::normal3(vector_1, vector_2, normal);
/// compute the gap between impactor and face
/// gap positive if impactor outside of surface
Real vector_node_1_impactor[3];
Math::vector_3d(position_node_1, position_impactor_node, vector_node_1_impactor);
gap = Math::vectorDot3(vector_node_1_impactor, normal);
/// compute the projected position of the impactor node onto the face
for(UInt i=0; i < dim; ++i) {
projected_position[i] = position_impactor_node[i] - gap * normal[i];
}
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void ContactSearchExplicit::checkPenetrationSituationSegment2(const UInt impactor_node,
const UInt surface_element,
bool & is_inside,
bool & is_in_projection_area) {
AKANTU_DEBUG_IN();
AKANTU_DEBUG_ASSERT(spatial_dimension == 2, "wrong spatial dimension (=" << spatial_dimension << ") for checkPenetrationSituationSegment2");
const UInt dim = spatial_dimension;
const ElementType type = _segment_2;
const UInt nb_nodes_element = Mesh::getNbNodesPerElement(type);
const Real tolerance = std::numeric_limits<Real>::epsilon();
Real * current_position = contact.getModel().getCurrentPosition().values;
UInt * connectivity = mesh.getConnectivity(type).values;
Real gap;
Real normal[2];
Real projected_position[2];
computeComponentsOfProjectionSegment2(impactor_node, surface_element, normal, gap, projected_position);
// -------------------------------------------------------
/// Find if impactor node is inside or outside of the face
// -------------------------------------------------------
if(gap < -tolerance)
is_inside = true;
else
is_inside = false;
// ----------------------------------------------------
/// Find if impactor node is in projection area of face
// ----------------------------------------------------
UInt node_1 = surface_element * nb_nodes_element;
Real * position_node_1 = &(current_position[connectivity[node_1 + 0] * spatial_dimension]);
Real * position_node_2 = &(current_position[connectivity[node_1 + 1] * spatial_dimension]);
Real tmp_vector_1_imp[2];
Real tmp_vector_1_2[2];
// find vectors from master node 1 to impactor and master node 2
Math::vector_2d(position_node_1, position_node_2, tmp_vector_1_2);
Math::vector_2d(position_node_1, projected_position, tmp_vector_1_imp);
Real length_difference = Math::norm2(tmp_vector_1_imp) - Math::norm2(tmp_vector_1_2);
// the projection is outside if the test area is larger than the area of the triangle
if(length_difference > tolerance)
is_in_projection_area = false;
else
is_in_projection_area = true;
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void ContactSearchExplicit::checkPenetrationSituationTriangle3(const UInt impactor_node,
const UInt surface_element,
bool & is_inside,
bool & is_in_projection_area) {
AKANTU_DEBUG_IN();
AKANTU_DEBUG_ASSERT(spatial_dimension == 3, "wrong spatial dimension (=" << spatial_dimension << ") for checkPenetrationSituationTriangle3");
const UInt dim = spatial_dimension;
const ElementType type = _triangle_3;
const UInt nb_nodes_element = Mesh::getNbNodesPerElement(type);
const Real tolerance = std::numeric_limits<Real>::epsilon();
Real * current_position = contact.getModel().getCurrentPosition().values;
UInt * connectivity = mesh.getConnectivity(type).values;
Real gap;
Real normal[3];
Real projected_position[3];
computeComponentsOfProjectionTriangle3(impactor_node, surface_element, normal, gap, projected_position);
// -------------------------------------------------------
/// Find if impactor node is inside or outside of the face
// -------------------------------------------------------
if(gap < -tolerance)
is_inside = true;
else
is_inside = false;
// ----------------------------------------------------
/// Find if impactor node is in projection area of face
// ----------------------------------------------------
UInt node_1 = surface_element * nb_nodes_element;
Real * position_node_1 = &(current_position[connectivity[node_1 + 0] * spatial_dimension]);
Real * position_node_2 = &(current_position[connectivity[node_1 + 1] * spatial_dimension]);
Real * position_node_3 = &(current_position[connectivity[node_1 + 2] * spatial_dimension]);
Real triangle_area;
Real test_area = 0.0;
Real tmp_vector_1[3];
Real tmp_vector_2[3];
Real tmp_vector_3[3];
// find area of triangle
Math::vector_3d(position_node_1, position_node_2, tmp_vector_1);
Math::vector_3d(position_node_1, position_node_3, tmp_vector_2);
Math::vectorProduct3(tmp_vector_1, tmp_vector_2, tmp_vector_3);
triangle_area = 0.5 * Math::norm3(tmp_vector_3);
// compute areas of projected position and two nodes of master triangle
UInt nb_sub_areas = nb_nodes_element;
UInt node_order[4];
node_order[0] = 0; node_order[1] = 1; node_order[2] = 2; node_order[3] = 0;
for(UInt i=0; i < nb_sub_areas; ++i) {
position_node_1 = &(current_position[connectivity[node_1 + node_order[i ]] * spatial_dimension]);
position_node_2 = &(current_position[connectivity[node_1 + node_order[i+1]] * spatial_dimension]);
Math::vector_3d(projected_position, position_node_1, tmp_vector_1);
Math::vector_3d(projected_position, position_node_2, tmp_vector_2);
Math::vectorProduct3(tmp_vector_1, tmp_vector_2, tmp_vector_3);
test_area += 0.5 * Math::norm3(tmp_vector_3);
}
// the projection is outside if the test area is larger than the area of the triangle
if((test_area - triangle_area) > tolerance)
is_in_projection_area = false;
else
is_in_projection_area = true;
AKANTU_DEBUG_OUT();
}
__END_AKANTU__
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