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contact_detector.hh
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/**
* @file contact_detector.hh
*
* @author Mohit Pundir <mohit.pundir@epfl.ch>
*
* @date creation: Mon Dec 13 2010
* @date last modification: Thu Jun 24 2021
*
* @brief Mother class for all detection algorithms
*
*
* @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 "aka_bbox.hh"
#include "aka_common.hh"
#include "aka_grid_dynamic.hh"
#include "contact_element.hh"
#include "element_class.hh"
#include "element_group.hh"
#include "fe_engine.hh"
#include "geometry_utils.hh"
#include "mesh.hh"
#include "mesh_io.hh"
#include "parsable.hh"
#include "surface_selector.hh"
/* -------------------------------------------------------------------------- */
#ifndef __AKANTU_CONTACT_DETECTOR_HH__
#define __AKANTU_CONTACT_DETECTOR_HH__
namespace akantu {
enum class Surface { master, slave };
/* -------------------------------------------------------------------------- */
class ContactDetector : public Parsable {
/* ------------------------------------------------------------------------ */
/* Constructor/Destructors */
/* ------------------------------------------------------------------------ */
public:
ContactDetector(Mesh & /*mesh*/, const ID & id = "contact_detector");
ContactDetector(Mesh & /*mesh*/, Array<Real> positions,
const ID & id = "contact_detector");
~ContactDetector() override = default;
/* ------------------------------------------------------------------------ */
/* Members */
/* ------------------------------------------------------------------------ */
public:
/// performs all search steps
void search(Array<ContactElement> & elements, Array<Real> & gaps,
Array<Real> & normals, Array<Real> & tangents,
Array<Real> & projections);
/// performs global spatial search to construct spatial grids
std::pair<BBox, std::unique_ptr<SpatialGrid<Idx>>> globalSearch() const;
/// performs local search to find closet master node to a slave node
void localSearch(const BBox & intersection,
const SpatialGrid<Idx> & master_grid);
/// create contact elements
void createContactElements(Array<ContactElement> & elements,
Array<Real> & gaps, Array<Real> & normals,
Array<Real> & tangents, Array<Real> & projections);
private:
/// reads the input file to get contact detection options
void parseSection(const ParserSection & section) override;
/* ------------------------------------------------------------------------ */
/* Inline Methods */
/* ------------------------------------------------------------------------ */
public:
/// checks whether the natural projection is valid or not
template <class Derived,
std::enable_if_t<aka::is_vector_v<Derived>> * = nullptr>
inline bool
checkValidityOfProjection(Eigen::MatrixBase<Derived> & projection) const;
/// extracts the coordinates of an element
template <class Derived>
inline void coordinatesOfElement(const Element & el,
Eigen::MatrixBase<Derived> & coords) const;
/// computes the optimal cell size for grid
template <class Derived,
std::enable_if_t<aka::is_vector_v<Derived>> * = nullptr>
inline void computeCellSpacing(Eigen::MatrixBase<Derived> & spacing) const;
/// constructs a grid containing nodes lying within bounding box
inline void constructGrid(SpatialGrid<Idx> & grid, BBox & bbox,
const Array<Idx> & nodes_list) const;
/// constructs the bounding box based on nodes list
inline void constructBoundingBox(BBox & bbox,
const Array<Idx> & nodes_list) const;
/// computes the maximum in radius for a given mesh
inline void computeMaximalDetectionDistance();
/// constructs the connectivity for a contact element
inline Vector<Idx> constructConnectivity(Idx & slave,
const Element & master) const;
/// computes normal on an element
template <class Derived,
std::enable_if_t<aka::is_vector_v<Derived>> * = nullptr>
inline void computeNormalOnElement(const Element & element,
Eigen::MatrixBase<Derived> & normal) const;
/// extracts vectors which forms the plane of element
template <class Derived>
inline void vectorsAlongElement(const Element & el,
Eigen::MatrixBase<Derived> & vectors) const;
/// computes the gap between slave and its projection on master
/// surface
template <
class Derived1, class Derived2,
std::enable_if_t<aka::are_vectors<Derived1, Derived2>::value> * = nullptr>
inline Real computeGap(const Eigen::MatrixBase<Derived1> & slave,
const Eigen::MatrixBase<Derived2> & master) const;
/// filter boundary elements
inline void filterBoundaryElements(const Array<Element> & elements,
Array<Element> & boundary_elements) const;
/// checks whether self contact condition leads to a master element
/// which is closet but not orthogonally opposite to slave surface
template <class Derived,
std::enable_if_t<aka::is_vector_v<Derived>> * = nullptr>
inline bool
isValidSelfContact(const Idx & slave_node, const Real & gap,
const Eigen::MatrixBase<Derived> & normal) const;
/* ------------------------------------------------------------------------ */
/* Accessors */
/* ------------------------------------------------------------------------ */
public:
/// get the mesh
AKANTU_GET_MACRO(Mesh, mesh, Mesh &)
/// returns the maximum detection distance
AKANTU_GET_MACRO(MaximumDetectionDistance, max_dd, Real);
AKANTU_SET_MACRO(MaximumDetectionDistance, max_dd, Real);
/// returns the bounding box extension
AKANTU_GET_MACRO(MaximumBoundingBox, max_bb, Real);
AKANTU_SET_MACRO(MaximumBoundingBox, max_bb, Real);
/// returns the minimum detection distance
AKANTU_GET_MACRO(MinimumDetectionDistance, min_dd, Real);
AKANTU_SET_MACRO(MinimumDetectionDistance, min_dd, Real);
AKANTU_GET_MACRO_NOT_CONST(Positions, positions, Array<Real> &);
AKANTU_SET_MACRO(Positions, positions, Array<Real>);
AKANTU_GET_MACRO_NOT_CONST(SurfaceSelector, *surface_selector,
SurfaceSelector &);
AKANTU_SET_MACRO(SurfaceSelector, surface_selector,
std::shared_ptr<SurfaceSelector>);
/* ------------------------------------------------------------------------ */
/* Class Members */
/* ------------------------------------------------------------------------ */
private:
/// maximal detection distance for grid spacing
Real max_dd;
/// minimal detection distance for grid spacing
Real min_dd;
/// maximal bounding box extension
Real max_bb;
/// tolerance for finding natural projection
Real projection_tolerance;
/// iterations for finding natural projection
Int max_iterations;
/// tolerance for extending a master elements on all sides
Real extension_tolerance;
/// Mesh
Mesh & mesh;
/// dimension of the model
Int spatial_dimension{0};
/// node selector for selecting master and slave nodes
std::shared_ptr<SurfaceSelector> surface_selector;
/// contact pair slave node to closet master node
std::vector<std::pair<Idx, Idx>> contact_pairs;
/// contains the updated positions of the nodes
Array<Real> positions;
/// type of detection explicit/implicit
DetectionType detection_type;
};
} // namespace akantu
#include "contact_detector_inline_impl.cc"
#endif /* __AKANTU_CONTACT_DETECTOR_HH__ */

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