structural_mechanics_model.hh
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structural_mechanics_model.hh
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	/**
	* @file structural_mechanics_model.hh
	*
	* @author Fabian Barras <fabian.barras@epfl.ch>
	* @author Sébastien Hartmann <sebastien.hartmann@epfl.ch>
	* @author Nicolas Richart <nicolas.richart@epfl.ch>
	* @author Damien Spielmann <damien.spielmann@epfl.ch>
	*
	* @date creation: Fri Jul 15 2011
	* @date last modification: Thu Jan 21 2016
	*
	* @brief Particular implementation of the structural elements in the
	* StructuralMechanicsModel
	*
	* @section LICENSE
	*
	* Copyright (©) 2010-2012, 2014, 2015 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_STRUCTURAL_MECHANICS_MODEL_HH__
	#define __AKANTU_STRUCTURAL_MECHANICS_MODEL_HH__

	/* -------------------------------------------------------------------------- */
	#include "aka_common.hh"
	#include "model.hh"
	#include "integrator_gauss.hh"
	#include "shape_linked.hh"
	#include "aka_types.hh"
	#include "dumpable.hh"
	#include "solver.hh"
	#include "integration_scheme_2nd_order.hh"

	/* -------------------------------------------------------------------------- */
	namespace akantu {
	class SparseMatrix;
	}

	__BEGIN_AKANTU__

	struct StructuralMaterial {
	Real E;
	Real A;
	Real I;
	Real Iz;
	Real Iy;
	Real GJ;
	Real rho;
	Real t;
	Real nu;
	};

	struct StructuralMechanicsModelOptions : public ModelOptions {
	StructuralMechanicsModelOptions(AnalysisMethod analysis_method = _static)
	: analysis_method(analysis_method) {}
	AnalysisMethod analysis_method;
	};

	extern const StructuralMechanicsModelOptions
	default_structural_mechanics_model_options;

	class StructuralMechanicsModel : public Model {
	/* ------------------------------------------------------------------------ */
	/* Constructors/Destructors */
	/* ------------------------------------------------------------------------ */
	public:
	typedef FEEngineTemplate<IntegratorGauss, ShapeLinked, _ek_structural>
	MyFEEngineType;

	StructuralMechanicsModel(Mesh & mesh,
	UInt spatial_dimension = _all_dimensions,
	const ID & id = "structural_mechanics_model",
	const MemoryID & memory_id = 0);

	virtual ~StructuralMechanicsModel();

	/* ------------------------------------------------------------------------ */
	/* Methods */
	/* ------------------------------------------------------------------------ */
	public:
	/// initialize fully the model
	void initFull(const ModelOptions & options =
	default_structural_mechanics_model_options);

	/// initialize the internal vectors
	void initArrays();

	/// initialize the model
	void initModel();

	/// initialize the solver
	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);

	/// compute the stresses per elements
	void computeStresses();

	/// assemble the stiffness matrix
	void assembleStiffnessMatrix();

	/// assemble the mass matrix for consistent mass resolutions
	void assembleMass();

	/// implicit time integration predictor
	void implicitPred();

	/// implicit time integration corrector
	void implicitCorr();

	/// update the residual vector
	void updateResidual();

	/// solve the system
	void solve();

	bool testConvergenceIncrement(Real tolerance);
	bool testConvergenceIncrement(Real tolerance, Real & error);

	void computeRotationMatrix(const ElementType & type);

	protected:
	UInt getTangentStiffnessVoigtSize(const ElementType & type);

	/// compute Rotation Matrices
	template <const ElementType type>
	void computeRotationMatrix(__attribute__((unused)) Array<Real> & rotations) {}

	/// compute A and solve @f[ A\delta u = f_ext - f_int @f]
	template <NewmarkBeta::IntegrationSchemeCorrectorType type>
	void solve(Array<Real> & increment,
	__attribute__((unused)) Real block_val = 1.);

	/* ------------------------------------------------------------------------ */
	/* Mass (structural_mechanics_model_mass.cc) */
	/* ------------------------------------------------------------------------ */

	/// assemble the mass matrix for either _ghost or _not_ghost elements
	void assembleMass(GhostType ghost_type);

	/// computes rho
	void computeRho(Array<Real> & rho, ElementType type, GhostType ghost_type);

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

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

	private:
	template <ElementType type> inline UInt getTangentStiffnessVoigtSize();

	template <ElementType type> void assembleStiffnessMatrix();

	template <ElementType type> void assembleMass();

	template <ElementType type> void computeStressOnQuad();

	template <ElementType type>
	void computeTangentModuli(Array<Real> & tangent_moduli);

	template <ElementType type>
	void transferBMatrixToSymVoigtBMatrix(Array<Real> & B, bool local = false);

	template <ElementType type>
	void transferNMatrixToSymVoigtNMatrix(Array<Real> & N_matrix);

	/* ------------------------------------------------------------------------ */
	/* Dumpable interface */
	/* ------------------------------------------------------------------------ */
	public:
	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 ElementKind & kind,
	const std::string & fe_engine_id = "");

	/* ------------------------------------------------------------------------ */
	/* Accessors */
	/* ------------------------------------------------------------------------ */
	public:
	/// set the value of the time step
	void setTimeStep(Real time_step);

	/// return the dimension of the system space
	AKANTU_GET_MACRO(SpatialDimension, spatial_dimension, UInt);

	/// get the StructuralMechanicsModel::displacement vector
	AKANTU_GET_MACRO(Displacement, *displacement_rotation, Array<Real> &);

	/// get the StructuralMechanicsModel::velocity vector
	AKANTU_GET_MACRO(Velocity, *velocity, Array<Real> &);

	/// get the StructuralMechanicsModel::acceleration vector, updated
	/// by
	/// StructuralMechanicsModel::updateAcceleration
	AKANTU_GET_MACRO(Acceleration, *acceleration, Array<Real> &);

	/// get the StructuralMechanicsModel::force vector (boundary forces)
	AKANTU_GET_MACRO(Force, *force_momentum, Array<Real> &);

	/// get the StructuralMechanicsModel::residual vector, computed by
	/// StructuralMechanicsModel::updateResidual
	AKANTU_GET_MACRO(Residual, *residual, const Array<Real> &);
	/// get the StructuralMechanicsModel::boundary vector
	AKANTU_GET_MACRO(BlockedDOFs, *blocked_dofs, Array<bool> &);

	AKANTU_GET_MACRO_BY_ELEMENT_TYPE_CONST(RotationMatrix, rotation_matrix, Real);

	AKANTU_GET_MACRO(StiffnessMatrix, *stiffness_matrix, const SparseMatrix &);

	AKANTU_GET_MACRO(MassMatrix, *mass_matrix, const SparseMatrix &);

	AKANTU_GET_MACRO_BY_ELEMENT_TYPE_CONST(Stress, stress, Real);

	AKANTU_GET_MACRO_BY_ELEMENT_TYPE(ElementMaterial, element_material, UInt);

	AKANTU_GET_MACRO_BY_ELEMENT_TYPE(Set_ID, set_ID, UInt);

	void addMaterial(StructuralMaterial & material) {
	materials.push_back(material);
	}

	/**
	* @brief set the StructuralMechanicsModel::increment_flag to on, the
	* activate the
	* update of the StructuralMechanicsModel::increment vector
	*/
	void setIncrementFlagOn();

	/* ------------------------------------------------------------------------ */
	/* Boundaries (structural_mechanics_model_boundary.cc) */
	/* ------------------------------------------------------------------------ */
	public:
	/// Compute Linear load function set in global axis
	template <ElementType type>
	void computeForcesByGlobalTractionArray(const Array<Real> & tractions);

	/// Compute Linear load function set in local axis
	template <ElementType type>
	void computeForcesByLocalTractionArray(const Array<Real> & tractions);

	/// compute force vector from a function(x,y,momentum) that describe stresses
	template <ElementType type>
	void computeForcesFromFunction(BoundaryFunction in_function,
	BoundaryFunctionType function_type);

	/**
	* 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);

	/// test if the system is converged
	template <SolveConvergenceCriteria criteria>
	bool testConvergence(Real tolerance, Real & error);

	/* ------------------------------------------------------------------------ */
	/* Class Members */
	/* ------------------------------------------------------------------------ */
	private:
	/// time step
	Real time_step;

	/// conversion coefficient form force/mass to acceleration
	Real f_m2a;

	/// displacements array
	Array<Real> * displacement_rotation;

	/// displacements array at the previous time step (used in finite deformation)
	Array<Real> * previous_displacement;

	/// velocities array
	Array<Real> * velocity;

	/// accelerations array
	Array<Real> * acceleration;

	/// forces array
	Array<Real> * force_momentum;

	/// lumped mass array
	Array<Real> * mass;

	/// stress arraz

	ElementTypeMapArray<Real> stress;

	/// residuals array
	Array<Real> * residual;

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

	/// position of a dof in the K matrix
	Array<Int> * equation_number;

	ElementTypeMapArray<UInt> element_material;

	// Define sets of beams
	ElementTypeMapArray<UInt> set_ID;

	/// local equation_number to global
	unordered_map<UInt, UInt>::type local_eq_num_to_global;

	/// stiffness matrix
	SparseMatrix * stiffness_matrix;

	/// mass matrix
	SparseMatrix * mass_matrix;

	/// velocity damping matrix
	SparseMatrix * velocity_damping_matrix;

	/// jacobian matrix
	SparseMatrix * jacobian_matrix;

	/// increment of displacement
	Array<Real> * increment;

	/// solver for implicit
	Solver * solver;

	/// number of degre of freedom
	UInt nb_degree_of_freedom;

	// Rotation matrix
	ElementTypeMapArray<Real> rotation_matrix;

	/// analysis method check the list in akantu::AnalysisMethod
	AnalysisMethod method;

	/// flag defining if the increment must be computed or not
	bool increment_flag;

	/// integration scheme of second order used
	IntegrationScheme2ndOrder * integrator;

	/* --------------------------------------------------------------------------
	*/
	std::vector<StructuralMaterial> materials;
	};

	/* -------------------------------------------------------------------------- */
	/* inline functions */
	/* -------------------------------------------------------------------------- */

	#include "structural_mechanics_model_inline_impl.cc"

	/// standard output stream operator
	inline std::ostream & operator<<(std::ostream & stream,
	const StructuralMechanicsModel & _this) {
	_this.printself(stream);
	return stream;
	}

	__END_AKANTU__

	#endif /* __AKANTU_STRUCTURAL_MECHANICS_MODEL_HH__ */

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