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rAKA/src/model/contact_mechanics/contact_mechanics_model.cc
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contact_mechanics_model.cc
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/**
* @file coontact_mechanics_model.cc
*
* @author Mohit Pundir <mohit.pundir@epfl.ch>
*
* @date creation: Tue May 08 2012
* @date last modification: Wed Feb 21 2018
*
* @brief Contact mechanics model
*
* @section LICENSE
*
* Copyright (©) 2010-2018 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 "contact_mechanics_model.hh"
#include "boundary_condition_functor.hh"
#include "dumpable_inline_impl.hh"
#include "integrator_gauss.hh"
#include "shape_lagrange.hh"
#ifdef AKANTU_USE_IOHELPER
#include "dumper_iohelper_paraview.hh"
#endif
/* -------------------------------------------------------------------------- */
#include <algorithm>
/* -------------------------------------------------------------------------- */
namespace akantu {
/* -------------------------------------------------------------------------- */
ContactMechanicsModel::ContactMechanicsModel(
Mesh & mesh, Array<Real> & positions, UInt dim, const ID & id,
const MemoryID & memory_id, std::shared_ptr<DOFManager> dof_manager,
const ModelType model_type)
: Model(mesh, model_type, dof_manager, dim, id, memory_id),
current_positions(positions) {
AKANTU_DEBUG_IN();
this->registerFEEngineObject<MyFEEngineType>("ContactMechanicsModel", mesh,
Model::spatial_dimension);
#if defined(AKANTU_USE_IOHELPER)
this->mesh.registerDumper<DumperParaview>("contact_mechanics", id, true);
this->mesh.addDumpMeshToDumper("contact_mechanics", mesh,
Model::spatial_dimension, _not_ghost,
_ek_regular);
#endif
this->registerDataAccessor(*this);
this->detector = std::make_unique<ContactDetector>(this->mesh, current_positions,
id + ":contact_detector");
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
ContactMechanicsModel::ContactMechanicsModel(
Mesh & mesh, UInt dim, const ID & id, const MemoryID & memory_id,
std::shared_ptr<DOFManager> dof_manager, const ModelType model_type)
: ContactMechanicsModel(mesh, mesh.getNodes(), dim, id, memory_id,
dof_manager, model_type) {}
/* -------------------------------------------------------------------------- */
ContactMechanicsModel::~ContactMechanicsModel() {
AKANTU_DEBUG_IN();
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::initFullImpl(const ModelOptions & options) {
Model::initFullImpl(options);
// initalize the resolutions
if (this->parser.getLastParsedFile() != "") {
this->instantiateResolutions();
}
this->initResolutions();
this->initBC(*this, *displacement, *displacement_increment, *external_force);
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::instantiateResolutions() {
ParserSection model_section;
bool is_empty;
std::tie(model_section, is_empty) = this->getParserSection();
if (not is_empty) {
auto model_resolutions =
model_section.getSubSections(ParserType::_contact_resolution);
for (const auto & section : model_resolutions) {
this->registerNewResolution(section);
}
}
auto sub_sections =
this->parser.getSubSections(ParserType::_contact_resolution);
for (const auto & section : sub_sections) {
this->registerNewResolution(section);
}
if (resolutions.empty())
AKANTU_EXCEPTION("No contact resolutions where instantiated for the model"
<< getID());
are_resolutions_instantiated = true;
}
/* -------------------------------------------------------------------------- */
Resolution &
ContactMechanicsModel::registerNewResolution(const ParserSection & section) {
std::string res_name;
std::string res_type = section.getName();
std::string opt_param = section.getOption();
try {
std::string tmp = section.getParameter("name");
res_name = tmp; /** this can seem weird, but there is an ambiguous operator
* overload that i couldn't solve. @todo remove the
* weirdness of this code
*/
} catch (debug::Exception &) {
AKANTU_ERROR("A contact resolution of type \'"
<< res_type
<< "\' in the input file has been defined without a name!");
}
Resolution & res = this->registerNewResolution(res_name, res_type, opt_param);
res.parseSection(section);
return res;
}
/* -------------------------------------------------------------------------- */
Resolution & ContactMechanicsModel::registerNewResolution(
const ID & res_name, const ID & res_type, const ID & opt_param) {
AKANTU_DEBUG_ASSERT(resolutions_names_to_id.find(res_name) ==
resolutions_names_to_id.end(),
"A resolution with this name '"
<< res_name << "' has already been registered. "
<< "Please use unique names for resolutions");
UInt res_count = resolutions.size();
resolutions_names_to_id[res_name] = res_count;
std::stringstream sstr_res;
sstr_res << this->id << ":" << res_count << ":" << res_type;
ID res_id = sstr_res.str();
std::unique_ptr<Resolution> resolution =
ResolutionFactory::getInstance().allocate(res_type, spatial_dimension,
opt_param, *this, res_id);
resolutions.push_back(std::move(resolution));
return *(resolutions.back());
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::initResolutions() {
AKANTU_DEBUG_ASSERT(resolutions.size() != 0,
"No resolutions to initialize !");
if (!are_resolutions_instantiated)
instantiateResolutions();
// \TODO check if each resolution needs a initResolution() method
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::initModel() {
getFEEngine().initShapeFunctions(_not_ghost);
getFEEngine().initShapeFunctions(_ghost);
}
/* -------------------------------------------------------------------------- */
FEEngine & ContactMechanicsModel::getFEEngineBoundary(const ID & name) {
return dynamic_cast<FEEngine &>(
getFEEngineClassBoundary<MyFEEngineType>(name));
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::initSolver(TimeStepSolverType time_step_solver_type,
NonLinearSolverType) {
auto & dof_manager = this->getDOFManager();
/* -------------------------------------------------------------------------- */
// for alloc type of solvers
this->allocNodalField(this->displacement, spatial_dimension, "displacement");
this->allocNodalField(this->displacement_increment, spatial_dimension,
"displacement_increment");
this->allocNodalField(this->internal_force, spatial_dimension,
"internal_force");
this->allocNodalField(this->external_force, spatial_dimension,
"external_force");
this->allocNodalField(this->normals, spatial_dimension, "normals");
this->allocNodalField(this->gaps, 1, "gaps");
this->allocNodalField(this->nodal_area, 1, "areas");
this->allocNodalField(this->blocked_dofs, 1, "blocked_dofs");
}
/* -------------------------------------------------------------------------- */
std::tuple<ID, TimeStepSolverType>
ContactMechanicsModel::getDefaultSolverID(const AnalysisMethod & method) {
switch (method) {
case _explicit_contact: {
return std::make_tuple("explicit_contact", _tsst_dynamic);
}
case _implicit_contact: {
return std::make_tuple("implicit_contact", _tsst_static);
}
default:
return std::make_tuple("unkown", _tsst_not_defined);
}
}
/* -------------------------------------------------------------------------- */
ModelSolverOptions ContactMechanicsModel::getDefaultSolverOptions(
const TimeStepSolverType & type) const {
ModelSolverOptions options;
switch (type) {
case _tsst_dynamic: {
options.non_linear_solver_type = _nls_newton_raphson;
options.integration_scheme_type["displacement"] = _ist_pseudo_time;
options.solution_type["displacement"] = IntegrationScheme::_not_defined;
break;
}
case _tsst_static: {
options.non_linear_solver_type = _nls_newton_raphson;
options.integration_scheme_type["displacement"] = _ist_pseudo_time;
options.solution_type["displacement"] = IntegrationScheme::_not_defined;
break;
}
default:
AKANTU_EXCEPTION(type << " is not a valid time step solver type");
break;
}
return options;
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::assembleResidual() {
AKANTU_DEBUG_IN();
/* ------------------------------------------------------------------------ */
// computes the internal forces
this->assembleInternalForces();
/* ------------------------------------------------------------------------ */
this->getDOFManager().assembleToResidual("displacement", *this->internal_force,
1);
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::assembleInternalForces() {
AKANTU_DEBUG_IN();
AKANTU_DEBUG_INFO("Assemble the contact forces");
this->internal_force->clear();
// assemble the forces due to contact
auto assemble = [&](auto && ghost_type) {
for (auto & resolution : resolutions) {
resolution->assembleInternalForces(ghost_type);
}
};
AKANTU_DEBUG_INFO("Assemble residual for local elements");
assemble(_not_ghost);
// assemble the stresses due to ghost elements
AKANTU_DEBUG_INFO("Assemble residual for ghost elements");
assemble(_ghost);
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::search() {
this->contact_map.clear();
this->detector->search(this->contact_map);
this->assembleFieldsFromContactMap();
this->computeNodalAreas<Surface::slave>();
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::search(Array<Real> & increment) {
this->contact_map.clear();
this->detector->search(this->contact_map);
for (auto & entry : contact_map) {
auto & element = entry.second;
const auto & connectivity = element.connectivity;
const auto & normal = element.normal;
auto slave_node = connectivity[0];
Vector<Real> u_slave(spatial_dimension);
auto master_node = connectivity[1];
Vector<Real> u_master(spatial_dimension);
for (UInt s : arange(spatial_dimension)) {
u_slave(s) = increment(slave_node, s);
u_master(s) = increment(master_node, s);
}
// todo check this initial guess
auto u = (u_master.norm() > u_slave.norm()) ? u_master : u_slave;
Real uv = Math::vectorDot(u.storage(), normal.storage(), spatial_dimension);
if (element.gap - uv <= 0) {
element.gap = abs(element.gap - uv);
}
else {
element.gap = 0.0;
}
}
this->assembleFieldsFromContactMap();
this->computeNodalAreas<Surface::slave>();
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::assembleFieldsFromContactMap() {
if (this->contact_map.empty())
AKANTU_ERROR(
"Contact map is empty, Please run search before assembling the fields");
for (auto & entry : contact_map) {
const auto & element = entry.second;
auto connectivity = element.connectivity;
auto node = connectivity(0);
(*gaps)[node] = element.gap;
for (UInt i = 0; i < spatial_dimension; ++i)
(*normals)(node, i) = element.normal[i];
}
}
/* -------------------------------------------------------------------------- */
template <Surface id> void ContactMechanicsModel::computeNodalAreas() {
this->nodal_area->clear();
this->external_force->clear();
this->applyBC(
BC::Neumann::FromHigherDim(Matrix<Real>::eye(spatial_dimension, 1)),
this->detector->getSurfaceId<id>());
for (auto && tuple :
zip(*nodal_area, make_view(*external_force, spatial_dimension))) {
auto & area = std::get<0>(tuple);
auto & force = std::get<1>(tuple);
for (auto & f : force)
area += pow(f, 2);
area = sqrt(area);
}
this->external_force->clear();
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::beforeSolveStep() {}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::afterSolveStep() {}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::printself(std::ostream & stream, int indent) const {
std::string space;
for (Int i = 0; i < indent; i++, space += AKANTU_INDENT)
;
stream << space << "Contact Mechanics Model [" << std::endl;
stream << space << " + id : " << id << std::endl;
stream << space << " + spatial dimension : " << Model::spatial_dimension
<< std::endl;
stream << space << " + fem [" << std::endl;
getFEEngine().printself(stream, indent + 2);
stream << space << AKANTU_INDENT << "]" << std::endl;
stream << space << " + resolutions [" << std::endl;
for (auto & resolution : resolutions) {
resolution->printself(stream, indent + 1);
}
stream << space << AKANTU_INDENT << "]" << std::endl;
stream << space << "]" << std::endl;
}
/* -------------------------------------------------------------------------- */
MatrixType ContactMechanicsModel::getMatrixType(const ID & matrix_id) {
if (matrix_id == "K")
return _symmetric;
return _mt_not_defined;
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::assembleMatrix(const ID & matrix_id) {
if (matrix_id == "K") {
this->assembleStiffnessMatrix();
}
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::assembleStiffnessMatrix() {
AKANTU_DEBUG_IN();
AKANTU_DEBUG_INFO("Assemble the new stiffness matrix");
if (!this->getDOFManager().hasMatrix("K")) {
this->getDOFManager().getNewMatrix("K", getMatrixType("K"));
}
for (auto & resolution : resolutions) {
resolution->assembleStiffnessMatrix(_not_ghost);
}
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::assembleLumpedMatrix(const ID & /*matrix_id*/) {
AKANTU_TO_IMPLEMENT();
}
/* -------------------------------------------------------------------------- */
#ifdef AKANTU_USE_IOHELPER
dumper::Field *
ContactMechanicsModel::createNodalFieldBool(const std::string & /*field_name*/,
const std::string & /*group_name*/,
bool /*padding_flag*/) {
dumper::Field * field = nullptr;
return field;
}
/* -------------------------------------------------------------------------- */
dumper::Field *
ContactMechanicsModel::createNodalFieldReal(const std::string & field_name,
const std::string & group_name,
bool padding_flag) {
std::map<std::string, Array<Real> *> real_nodal_fields;
real_nodal_fields["contact_force"] = this->internal_force;
real_nodal_fields["blocked_dofs"] = this->blocked_dofs;
real_nodal_fields["normals"] = this->normals;
real_nodal_fields["gaps"] = this->gaps;
real_nodal_fields["areas"] = this->nodal_area;
dumper::Field * field = nullptr;
if (padding_flag)
field = this->mesh.createNodalField(real_nodal_fields[field_name],
group_name, 3);
else
field =
this->mesh.createNodalField(real_nodal_fields[field_name], group_name);
return field;
}
#else
/* -------------------------------------------------------------------------- */
dumper::Field * ContactMechanicsModel::createNodalFieldReal(
__attribute__((unused)) const std::string & field_name,
__attribute__((unused)) const std::string & group_name,
__attribute__((unused)) bool padding_flag) {
return nullptr;
}
#endif
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::dump(const std::string & dumper_name) {
mesh.dump(dumper_name);
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::dump(const std::string & dumper_name, UInt step) {
mesh.dump(dumper_name, step);
}
/* ------------------------------------------------------------------------- */
void ContactMechanicsModel::dump(const std::string & dumper_name, Real time,
UInt step) {
mesh.dump(dumper_name, time, step);
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::dump() { mesh.dump(); }
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::dump(UInt step) { mesh.dump(step); }
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::dump(Real time, UInt step) {
mesh.dump(time, step);
}
/* -------------------------------------------------------------------------- */
UInt ContactMechanicsModel::getNbData(
const Array<Element> & elements, const SynchronizationTag & /*tag*/) const {
AKANTU_DEBUG_IN();
UInt size = 0;
UInt nb_nodes_per_element = 0;
for (const Element & el : elements) {
nb_nodes_per_element += Mesh::getNbNodesPerElement(el.type);
}
AKANTU_DEBUG_OUT();
return size;
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::packData(CommunicationBuffer & /*buffer*/,
const Array<Element> & /*elements*/,
const SynchronizationTag & /*tag*/) const {
AKANTU_DEBUG_IN();
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::unpackData(CommunicationBuffer & /*buffer*/,
const Array<Element> & /*elements*/,
const SynchronizationTag & /*tag*/) {
AKANTU_DEBUG_IN();
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
UInt ContactMechanicsModel::getNbData(
const Array<UInt> & dofs, const SynchronizationTag & /*tag*/) const {
AKANTU_DEBUG_IN();
UInt size = 0;
AKANTU_DEBUG_OUT();
return size * dofs.size();
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::packData(CommunicationBuffer & /*buffer*/,
const Array<UInt> & /*dofs*/,
const SynchronizationTag & /*tag*/) const {
AKANTU_DEBUG_IN();
AKANTU_DEBUG_OUT();
}
/* -------------------------------------------------------------------------- */
void ContactMechanicsModel::unpackData(CommunicationBuffer & /*buffer*/,
const Array<UInt> & /*dofs*/,
const SynchronizationTag & /*tag*/) {
AKANTU_DEBUG_IN();
AKANTU_DEBUG_OUT();
}
} // namespace akantu
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