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test_single_spring_friction_vel_weak_exp.cc
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rAKA akantu
test_single_spring_friction_vel_weak_exp.cc
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/**
* @file test_single_spring_friction_vel_weak_exp.cc
*
* @author David Simon Kammer <david.kammer@epfl.ch>
*
* @date Mon Oct 17 16:52:51 2011
*
* @brief test friction of exponential velocity weakening law (not with analytical solution)
*
* @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 <stdio.h>
#include <stdlib.h>
#include "aka_common.hh"
#include "mesh.hh"
#include "mesh_io.hh"
#include "mesh_io_msh.hh"
#include "mesh_utils.hh"
#include "solid_mechanics_model.hh"
#include "material.hh"
#include "contact.hh"
#include "contact_rigid.hh"
#include "friction_coefficient.hh"
#include "velocity_weakening_coulomb.hh"
#include "velocity_weakening_exponential.hh"
#include "contact_neighbor_structure.hh"
#include "regular_grid_neighbor_structure.hh"
#include "contact_search.hh"
#include "contact_search_explicit.hh"
#ifdef AKANTU_USE_IOHELPER
#include <io_helper.hh>
#endif
//AKANTU_USE_IOHELPER
using
namespace
akantu
;
/* -------------------------------------------------------------------------- */
Surface
impactor
=
0
;
Surface
master
=
1
;
UInt
the_node
=
0
;
const
ElementType
element_type
=
_triangle_3
;
#ifdef AKANTU_USE_IOHELPER
const
iohelper
::
ElemType
paraview_type
=
iohelper
::
TRIANGLE1
;
#endif
//AKANTU_USE_IOHELPER
const
char
*
mesh_name
=
"single_triangle.msh"
;
const
char
*
folder_name
=
"single_spring_friction_vel_weak_exp"
;
std
::
string
result_name
;
Real
mu_s
=
0.3
;
Real
mu_d
=
0.2
;
Real
power
=
1.
;
const
UInt
paraview_dump_int
=
1e1
;
const
UInt
file_dump_int
=
1e1
;
const
UInt
max_steps
=
1e6
;
const
UInt
stick_stop
=
3
;
Real
n_k
=
0.15
;
Real
normal_force
;
Real
start_displacement
=
0.2
;
Mesh
*
mesh
;
SolidMechanicsModel
*
model
;
UInt
spatial_dimension
=
2
;
Real
time_step_security
=
3.
;
Real
time_step
;
UInt
nb_nodes
;
UInt
nb_elements
;
UInt
stick_counter
=
0
;
bool
patch_test
=
false
;
const
Real
tolerance
=
std
::
numeric_limits
<
Real
>::
epsilon
()
*
10.
;
// variables of model
Real
*
coordinates
;
Real
*
displacement
;
Real
*
current_position
;
Real
*
velocity
;
Real
*
residual
;
Real
*
acceleration
;
bool
*
boundary
;
Real
*
force
;
Real
*
mass
;
std
::
map
<
std
::
string
,
ArrayBase
*
>
restart_map
;
#ifdef AKANTU_USE_IOHELPER
static
void
paraviewInit
(
iohelper
::
Dumper
&
dumper
);
#endif
//AKANTU_USE_IOHELPER
static
void
loadRestartInformation
(
ContactRigid
*
contact
);
static
void
printPredictor
(
UInt
step
,
std
::
ofstream
&
out_stream
);
static
void
printCorrector
(
UInt
step
,
ContactRigid
*
contact
,
std
::
ofstream
&
out_stream
);
static
void
getStickInfo
(
ContactRigid
*
contact
);
static
bool
testFloat
(
Real
a
,
Real
b
,
Real
adm_error
);
/* -------------------------------------------------------------------------- */
Int
main
(
int
argc
,
char
*
argv
[])
{
akantu
::
initialize
(
argc
,
argv
);
debug
::
setDebugLevel
(
dblWarning
);
// 1: name
// 2: initial displacement
// 3: static friction coefficient
// 4: dynamic friction coefficient
// 5: power
// 6: ratio N/K with N normal force & K stiffness
if
(
argc
==
7
)
{
result_name
=
argv
[
1
];
start_displacement
=
atof
(
argv
[
2
]);
mu_s
=
atof
(
argv
[
3
]);
mu_d
=
atof
(
argv
[
4
]);
power
=
atof
(
argv
[
5
]);
n_k
=
atof
(
argv
[
6
]);
}
else
{
result_name
=
"patch_test_output"
;
patch_test
=
true
;
// return EXIT_FAILURE;
}
/// load mesh
mesh
=
new
Mesh
(
spatial_dimension
);
MeshIOMSH
mesh_io
;
mesh_io
.
read
(
mesh_name
,
*
mesh
);
/// build facet connectivity and surface id
MeshUtils
::
buildFacets
(
*
mesh
);
MeshUtils
::
buildSurfaceID
(
*
mesh
);
/// declaration of model
model
=
new
SolidMechanicsModel
(
*
mesh
);
nb_nodes
=
model
->
getFEM
().
getMesh
().
getNbNodes
();
nb_elements
=
model
->
getFEM
().
getMesh
().
getNbElement
(
element_type
);
std
::
cout
<<
"Nb nodes : "
<<
nb_nodes
<<
" - nb elements : "
<<
nb_elements
<<
std
::
endl
;
/// model initialization
model
->
initArrays
();
// initialize the vectors
model
->
getForce
().
clear
();
model
->
getVelocity
().
clear
();
model
->
getAcceleration
().
clear
();
model
->
getDisplacement
().
clear
();
model
->
initExplicit
();
model
->
initModel
();
/// read and initialize material
model
->
readMaterials
(
"material.dat"
);
model
->
initMaterials
();
Real
stable_time_step
=
model
->
getStableTimeStep
();
time_step
=
stable_time_step
/
time_step_security
;
model
->
setTimeStep
(
time_step
);
std
::
cout
<<
"The time step is "
<<
time_step
<<
std
::
endl
;
// accessors to model elements
coordinates
=
mesh
->
getNodes
().
storage
();
displacement
=
model
->
getDisplacement
().
storage
();
velocity
=
model
->
getVelocity
().
storage
();
acceleration
=
model
->
getAcceleration
().
storage
();
boundary
=
model
->
getBoundary
().
storage
();
residual
=
model
->
getResidual
().
storage
();
model
->
updateCurrentPosition
();
current_position
=
model
->
getCurrentPosition
().
storage
();
force
=
model
->
getForce
().
storage
();
mass
=
model
->
getMass
().
storage
();
model
->
assembleMassLumped
();
UInt
nb_surfaces
=
mesh
->
getNbSurfaces
();
nb_surfaces
+=
1
;
/// contact declaration
Contact
*
contact_structure
=
Contact
::
newContact
(
*
model
,
_ct_rigid
,
_cst_expli
,
_cnst_regular_grid
);
ContactRigid
*
contact
=
dynamic_cast
<
ContactRigid
*>
(
contact_structure
);
//contact->initContact(false);
contact
->
addMasterSurface
(
master
);
contact
->
addImpactorSurfaceToMasterSurface
(
impactor
,
master
);
/// define the friction law
FrictionCoefficient
*
fric_coef
;
fric_coef
=
new
VelocityWeakeningExponential
(
*
contact
,
master
,
mu_s
,
mu_d
,
power
);
// load restart file
loadRestartInformation
(
contact
);
// set boundary condition
displacement
[
the_node
*
spatial_dimension
]
=
start_displacement
;
model
->
updateCurrentPosition
();
model
->
updateResidual
();
Real
stiffness
=
std
::
abs
(
residual
[
the_node
*
spatial_dimension
]
/
start_displacement
);
normal_force
=
n_k
*
stiffness
;
force
[
the_node
*
spatial_dimension
+
1
]
=
-
normal_force
;
if
(
start_displacement
>
tolerance
)
{
std
::
cout
<<
"Start displacement = "
<<
start_displacement
<<
" ; Residual = "
<<
residual
[
the_node
*
spatial_dimension
]
<<
" -> Stiffness K = "
<<
stiffness
<<
std
::
endl
;
std
::
cout
<<
"Mass = "
<<
mass
[
the_node
]
<<
std
::
endl
;
}
else
std
::
cout
<<
"No start displacement!! "
<<
std
::
endl
;
/// initialize the paraview output
#ifdef AKANTU_USE_IOHELPER
iohelper
::
DumperParaview
dumper
;
#endif
//AKANTU_USE_IOHELPER
std
::
ofstream
out_info
;
if
(
!
patch_test
)
{
model
->
updateResidual
();
#ifdef AKANTU_USE_IOHELPER
paraviewInit
(
dumper
);
#endif
//AKANTU_USE_IOHELPER
/// output files
std
::
stringstream
name_info
;
name_info
<<
"output_files/"
<<
folder_name
<<
"/global_info.dat"
;
out_info
.
open
(
name_info
.
str
().
c_str
());
out_info
<<
"%id time fnorm fres ffric ftot mu disp vel stick ekin epot etot"
<<
std
::
endl
;
}
UInt
step
=
0
;
Real
previous_vel
=
0.
;
UInt
count_cycle
=
0
;
/* ------------------------------------------------------------------------ */
/* Main loop */
/* ------------------------------------------------------------------------ */
while
(
stick_counter
<=
stick_stop
&&
step
<=
max_steps
)
{
// increase step
step
+=
1
;
if
(
step
%
1000
==
0
)
{
std
::
cout
<<
"passing step "
<<
step
<<
"/"
<<
max_steps
<<
"
\r
"
;
std
::
cout
.
flush
();
}
model
->
explicitPred
();
model
->
updateResidual
();
if
(
step
%
file_dump_int
==
0
&&
!
patch_test
)
printPredictor
(
step
,
out_info
);
contact
->
frictionPredictor
();
model
->
updateAcceleration
();
model
->
explicitCorr
();
contact
->
frictionCorrector
();
// see if node sticks
getStickInfo
(
contact
);
// count numbers of cycles
if
(
Math
::
are_float_equal
(
velocity
[
the_node
*
spatial_dimension
],
0.
)
&&
!
Math
::
are_float_equal
(
previous_vel
,
0.
))
count_cycle
++
;
previous_vel
=
velocity
[
the_node
*
spatial_dimension
];
if
(
step
%
file_dump_int
==
0
&&
!
patch_test
)
printCorrector
(
step
,
contact
,
out_info
);
#ifdef AKANTU_USE_IOHELPER
if
(
step
%
paraview_dump_int
==
0
&&
!
patch_test
)
dumper
.
Dump
();
#endif
//AKANTU_USE_IOHELPER
}
std
::
cout
<<
"passing step "
<<
step
<<
"/"
<<
max_steps
<<
std
::
endl
;
Real
final_displacement
=
displacement
[
the_node
*
spatial_dimension
];
// check patch test
if
(
patch_test
)
{
Real
correct_final_disp
=
-
0.0200196
;
Real
admissible_error
=
1e-07
;
UInt
correct_nb_cycle
=
3
;
//if (!(Math::are_float_equal(final_displacement, correct_final_disp)) | !(count_cycle == correct_nb_cycle)) {
if
(
!
(
testFloat
(
final_displacement
,
correct_final_disp
,
admissible_error
))
|
!
(
count_cycle
==
correct_nb_cycle
))
{
std
::
cout
<<
"Final displacement is "
<<
final_displacement
<<
", which should be "
<<
correct_final_disp
<<
std
::
endl
;
std
::
cout
<<
"Final number of cycles is "
<<
count_cycle
<<
", which should be "
<<
correct_nb_cycle
<<
std
::
endl
;
return
EXIT_FAILURE
;
}
else
{
std
::
cout
<<
"Patch test successful!"
<<
std
::
endl
;
return
EXIT_SUCCESS
;
}
}
else
{
/// output files
std
::
stringstream
result_name_path
;
result_name_path
<<
"output_files/"
<<
folder_name
<<
"/"
<<
result_name
<<
".dat"
;
std
::
ofstream
out_result
;
out_result
.
open
(
result_name_path
.
str
().
c_str
(),
std
::
ios
::
app
);
if
(
!
out_result
.
good
())
{
std
::
cout
<<
"Could not open result file "
<<
std
::
endl
;
return
EXIT_FAILURE
;
}
out_result
<<
start_displacement
<<
" "
<<
final_displacement
<<
" "
<<
count_cycle
<<
std
::
endl
;
out_result
.
close
();
}
out_info
.
close
();
delete
fric_coef
;
delete
contact
;
delete
model
;
delete
mesh
;
finalize
();
return
EXIT_SUCCESS
;
}
/* -------------------------------------------------------------------------- */
#ifdef AKANTU_USE_IOHELPER
void
paraviewInit
(
iohelper
::
Dumper
&
dumper
)
{
std
::
stringstream
name
;
name
<<
"paraview/"
<<
folder_name
<<
"/"
;
dumper
.
SetMode
(
iohelper
::
TEXT
);
dumper
.
SetPoints
(
model
->
getFEM
().
getMesh
().
getNodes
().
storage
(),
spatial_dimension
,
nb_nodes
,
"coordinates"
);
dumper
.
SetConnectivity
((
int
*
)
model
->
getFEM
().
getMesh
().
getConnectivity
(
element_type
).
storage
(),
paraview_type
,
nb_elements
,
iohelper
::
C_MODE
);
dumper
.
AddNodeDataField
(
model
->
getDisplacement
().
storage
(),
spatial_dimension
,
"displacements"
);
dumper
.
AddNodeDataField
(
model
->
getVelocity
().
storage
(),
spatial_dimension
,
"velocity"
);
dumper
.
AddNodeDataField
(
model
->
getResidual
().
storage
(),
spatial_dimension
,
"force"
);
dumper
.
AddNodeDataField
(
model
->
getMass
().
storage
(),
spatial_dimension
,
"mass"
);
dumper
.
AddNodeDataField
(
model
->
getForce
().
storage
(),
spatial_dimension
,
"applied_force"
);
dumper
.
AddElemDataField
(
model
->
getMaterial
(
0
).
getStrain
(
element_type
).
storage
(),
spatial_dimension
*
spatial_dimension
,
"strain"
);
dumper
.
AddElemDataField
(
model
->
getMaterial
(
0
).
getStress
(
element_type
).
storage
(),
spatial_dimension
*
spatial_dimension
,
"stress"
);
dumper
.
SetEmbeddedValue
(
"displacements"
,
1
);
dumper
.
SetEmbeddedValue
(
"applied_force"
,
1
);
dumper
.
SetPrefix
(
name
.
str
().
c_str
());
dumper
.
Init
();
dumper
.
Dump
();
}
#endif
//AKANTU_USE_IOHELPER
/* -------------------------------------------------------------------------- */
void
loadRestartInformation
(
ContactRigid
*
contact
)
{
// boundary conditions
Array
<
bool
>
*
boundary_r
=
new
Array
<
bool
>
(
nb_nodes
,
spatial_dimension
,
false
);
// sticked nodes
(
*
boundary_r
)(
1
,
0
)
=
true
;
(
*
boundary_r
)(
1
,
1
)
=
true
;
(
*
boundary_r
)(
2
,
0
)
=
true
;
(
*
boundary_r
)(
2
,
1
)
=
true
;
// the impactor node
(
*
boundary_r
)(
0
,
1
)
=
true
;
memcpy
(
boundary
,
boundary_r
->
storage
(),
spatial_dimension
*
nb_nodes
*
sizeof
(
bool
));
// set the active impactor node
Array
<
bool
>
*
ai_nodes
=
new
Array
<
bool
>
(
nb_nodes
,
1
,
false
);
(
*
ai_nodes
)(
the_node
)
=
true
;
restart_map
[
"active_impactor_nodes"
]
=
ai_nodes
;
// not defined master type, because won't use solve contact
Array
<
ElementType
>
*
et_nodes
=
new
Array
<
ElementType
>
(
nb_nodes
,
1
,
_not_defined
);
restart_map
[
"master_element_type"
]
=
et_nodes
;
// master normal x=0; y=1
Array
<
Real
>
*
mn_nodes
=
new
Array
<
Real
>
(
0
,
spatial_dimension
);
Real
normal
[
spatial_dimension
];
normal
[
0
]
=
0.
;
normal
[
1
]
=
1.
;
mn_nodes
->
push_back
(
normal
);
restart_map
[
"master_normals"
]
=
mn_nodes
;
// node is sticking
Array
<
bool
>
*
is_nodes
=
new
Array
<
bool
>
(
nb_nodes
,
2
,
false
);
(
*
is_nodes
)(
0
,
0
)
=
true
;
(
*
is_nodes
)(
0
,
1
)
=
true
;
restart_map
[
"node_is_sticking"
]
=
is_nodes
;
// no friction force
Array
<
Real
>
*
ff_nodes
=
new
Array
<
Real
>
(
0
,
spatial_dimension
);
Real
force
[
spatial_dimension
];
force
[
0
]
=
0.
;
force
[
1
]
=
0.
;
ff_nodes
->
push_back
(
force
);
restart_map
[
"friction_forces"
]
=
ff_nodes
;
// the original stick position (for regularized friction)
Array
<
Real
>
*
sp_nodes
=
new
Array
<
Real
>
(
0
,
spatial_dimension
);
Real
position
[
spatial_dimension
];
position
[
0
]
=
0.
;
position
[
1
]
=
0.
;
sp_nodes
->
push_back
(
position
);
restart_map
[
"stick_positions"
]
=
sp_nodes
;
// no residual forces
Array
<
Real
>
*
rf_nodes
=
new
Array
<
Real
>
(
0
,
spatial_dimension
);
Real
r_force
[
spatial_dimension
];
r_force
[
0
]
=
0.
;
r_force
[
1
]
=
0.
;
rf_nodes
->
push_back
(
r_force
);
restart_map
[
"residual_forces"
]
=
rf_nodes
;
// no previous velocities
Array
<
Real
>
*
pv_nodes
=
new
Array
<
Real
>
(
0
,
spatial_dimension
);
Real
vel
[
spatial_dimension
];
vel
[
0
]
=
0.
;
vel
[
1
]
=
0.
;
pv_nodes
->
push_back
(
vel
);
restart_map
[
"previous_velocities"
]
=
pv_nodes
;
contact
->
setRestartInformation
(
restart_map
,
master
);
delete
boundary_r
;
delete
ai_nodes
;
delete
et_nodes
;
delete
mn_nodes
;
delete
is_nodes
;
delete
ff_nodes
;
delete
sp_nodes
;
delete
rf_nodes
;
delete
pv_nodes
;
}
/* -------------------------------------------------------------------------- */
void
printPredictor
(
UInt
step
,
std
::
ofstream
&
out_stream
)
{
out_stream
<<
step
<<
" "
<<
step
*
time_step
<<
" "
<<
residual
[
the_node
*
spatial_dimension
+
1
]
<<
" "
<<
residual
[
the_node
*
spatial_dimension
];
}
/* -------------------------------------------------------------------------- */
void
printCorrector
(
__attribute__
((
unused
))
UInt
step
,
ContactRigid
*
contact
,
std
::
ofstream
&
out_stream
)
{
Real
epot
=
model
->
getPotentialEnergy
();
Real
ekin
=
model
->
getKineticEnergy
();
// find index of master surface in impactors_information
ContactRigid
::
SurfaceToImpactInfoMap
::
const_iterator
it_imp
;
it_imp
=
contact
->
getImpactorsInformation
().
find
(
master
);
// find the total contact force and contact area
ContactRigid
::
ImpactorInformationPerMaster
*
imp_info
=
it_imp
->
second
;
Real
*
friction_forces_val
=
imp_info
->
friction_forces
->
storage
();
bool
*
sticking_nodes_val
=
imp_info
->
node_is_sticking
->
storage
();
out_stream
<<
" "
<<
friction_forces_val
[
0
]
<<
" "
<<
residual
[
the_node
*
spatial_dimension
]
<<
" "
<<
friction_forces_val
[
0
]
/
residual
[
the_node
*
spatial_dimension
+
1
]
<<
" "
<<
displacement
[
the_node
*
spatial_dimension
]
<<
" "
<<
velocity
[
the_node
*
spatial_dimension
]
<<
" "
<<
sticking_nodes_val
[
0
]
<<
" "
<<
ekin
<<
" "
<<
epot
<<
" "
<<
ekin
+
epot
<<
std
::
endl
;
if
(
sticking_nodes_val
[
0
])
stick_counter
++
;
else
stick_counter
=
0
;
}
/* -------------------------------------------------------------------------- */
void
getStickInfo
(
ContactRigid
*
contact
)
{
// find index of master surface in impactors_information
ContactRigid
::
SurfaceToImpactInfoMap
::
const_iterator
it_imp
;
it_imp
=
contact
->
getImpactorsInformation
().
find
(
master
);
// find the total contact force and contact area
ContactRigid
::
ImpactorInformationPerMaster
*
imp_info
=
it_imp
->
second
;
bool
*
sticking_nodes_val
=
imp_info
->
node_is_sticking
->
storage
();
if
(
sticking_nodes_val
[
the_node
*
2
])
stick_counter
++
;
else
stick_counter
=
0
;
}
/* -------------------------------------------------------------------------- */
bool
testFloat
(
Real
a
,
Real
b
,
Real
adm_error
)
{
if
(
fabs
(
a
-
b
)
<
adm_error
)
return
true
;
else
return
false
;
}
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