solid_mechanics_model.hh
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solid_mechanics_model.hh
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	/**
	* @file solid_mechanics_model.hh
	*
	* @author Guillaume Anciaux <guillaume.anciaux@epfl.ch>
	* @author Nicolas Richart <nicolas.richart@epfl.ch>
	*
	* @date Tue Jul 27 18:15:37 2010
	*
	* @brief Model of Solid Mechanics
	*
	* @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/>.
	*
	*/

	/* -------------------------------------------------------------------------- */

	#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"

	/* -------------------------------------------------------------------------- */
	namespace akantu {
	class Material;
	class IntegrationScheme2ndOrder;
	class Contact;
	class SparseMatrix;
	}

	__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 Dumpable,
	public BoundaryCondition<SolidMechanicsModel> {

	/* ------------------------------------------------------------------------ */
	/* 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 FEMTemplate<IntegratorGauss,ShapeLagrange> MyFEMType;

	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(std::string material_file,
	const ModelOptions & options = default_solid_mechanics_model_options);

	/// initialize the fem object needed for boundary conditions
	void initFEMBoundary();

	/// 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;

	/* ------------------------------------------------------------------------ */
	/* 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();

	/// 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> & boundary,
	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:
	template<SolveConvergenceMethod method, SolveConvergenceCriteria criteria>
	bool solveStep(Real tolerance,
	UInt max_iteration = 100);

	public:
	/// solve @f[ A\delta u = f_ext - f_int @f] in displacement
	void solveDynamic();

	/// solve Ku = f
	void solveStatic();

	/// solve Ku = f
	void solveStatic(Array<bool> & boundary_normal, Array<Real> & EulerAngles);

	/// 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();

	protected:
	/// finish the computation of residual to solve in increment
	void updateResidualInternal();

	/// compute the support reaction and store it in force
	void updateSupportReaction();

	public:
	//protected: Daniel changed it just for a test
	/// compute A and solve @f[ A\delta u = f_ext - f_int @f]
	template<NewmarkBeta::IntegrationSchemeCorrectorType type>
	void solve(Array<Real> & increment);

	/* ------------------------------------------------------------------------ */
	/* 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);

	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();

	/* ------------------------------------------------------------------------ */
	/* 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;

	inline virtual void packBarycenter(const Mesh & mesh,
	CommunicationBuffer & buffer,
	const Array<Element> & elements,
	SynchronizationTag tag) const;

	inline virtual void unpackBarycenter(const Mesh & mesh,
	CommunicationBuffer & buffer,
	const Array<Element> & elements,
	SynchronizationTag tag);

	/* ------------------------------------------------------------------------ */
	/* 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 ByElementTypeUInt & new_numbering,
	const RemovedElementsEvent & event);

	/* ------------------------------------------------------------------------ */
	/* Dumpable interface */
	/* ------------------------------------------------------------------------ */
	public:
	virtual void addDumpFieldToDumper(const std::string & dumper_name,
	const std::string & field_id);

	virtual void addDumpGroupField(const std::string & field_id,
	const std::string & group_name);
	virtual void addDumpGroupFieldToDumper(const std::string & dumper_name,
	const std::string & field_id,
	const std::string & group_name);
	virtual void removeDumpGroupField(const std::string & field_id,
	const std::string & group_name);
	virtual void removeDumpGroupFieldFromDumper(const std::string & dumper_name,
	const std::string & field_id,
	const std::string & group_name);

	virtual void addDumpFieldVectorToDumper(const std::string & dumper_name,
	const std::string & field_id);

	virtual void addDumpGroupFieldVector(const std::string & field_id,
	const std::string & group_name);
	virtual void addDumpGroupFieldVectorToDumper(const std::string & dumper_name,
	const std::string & field_id,
	const std::string & group_name);

	virtual void addDumpFieldTensorToDumper(const std::string & dumper_name,
	const std::string & field_id);

	/* ------------------------------------------------------------------------ */
	/* 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);

	/// 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::boundary vector
	AKANTU_GET_MACRO(Boundary, *boundary, 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);

	/// set the Contact object
	AKANTU_SET_MACRO(Contact, contact, Contact *);

	/**
	* @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 mass matrix
	AKANTU_GET_MACRO(MassMatrix, *mass_matrix, SparseMatrix &);

	/// get the velocity damping matrix
	AKANTU_GET_MACRO(VelocityDampingMatrix, *velocity_damping_matrix, SparseMatrix &);

	/// get the FEM object to integrate or interpolate on the boundary
	inline FEM & getFEMBoundary(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(ElementIndexByMaterial, element_index_by_material, const ByElementTypeArray<UInt> &);

	/// vectors containing local material element index for each global element index
	AKANTU_GET_MACRO_BY_ELEMENT_TYPE_CONST(ElementIndexByMaterial, element_index_by_material, UInt);
	AKANTU_GET_MACRO_BY_ELEMENT_TYPE(ElementIndexByMaterial, element_index_by_material, UInt);

	protected:

	friend class Material;

	template<UInt DIM, template <UInt> class WeightFunction>
	friend class MaterialNonLocal;
	protected:
	/// compute the stable time step
	Real getStableTimeStep(const GhostType & ghost_type);

	/* ------------------------------------------------------------------------ */
	/* Class Members */
	/* ------------------------------------------------------------------------ */
	protected:
	/// 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;

	/// boundaries array
	Array<bool> * boundary;

	/// 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;

	/// vectors containing local material element index for each global element index
	ByElementTypeUInt element_index_by_material;

	/// 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;

	/// object to resolve the contact
	Contact * contact;

	/// 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;
	};

	__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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