diff --git a/src/model/solid_mechanics/solid_mechanics_model.cc b/src/model/solid_mechanics/solid_mechanics_model.cc index 75bfbc25f..d6dc2f4e0 100644 --- a/src/model/solid_mechanics/solid_mechanics_model.cc +++ b/src/model/solid_mechanics/solid_mechanics_model.cc @@ -1,1203 +1,1201 @@ /** * @file solid_mechanics_model.cc * * @author Ramin Aghababaei * @author Guillaume Anciaux * @author Aurelia Isabel Cuba Ramos * @author David Simon Kammer * @author Daniel Pino Muñoz * @author Nicolas Richart * @author Clement Roux * @author Marco Vocialta * * @date creation: Tue Jul 27 2010 * @date last modification: Wed Feb 21 2018 * * @brief Implementation of the SolidMechanicsModel class * * @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 . * */ /* -------------------------------------------------------------------------- */ #include "solid_mechanics_model.hh" #include "integrator_gauss.hh" #include "shape_lagrange.hh" #include "solid_mechanics_model_tmpl.hh" #include "communicator.hh" #include "element_synchronizer.hh" #include "sparse_matrix.hh" #include "synchronizer_registry.hh" #include "dumpable_inline_impl.hh" #ifdef AKANTU_USE_IOHELPER #include "dumper_iohelper_paraview.hh" #endif #include "material_non_local.hh" /* -------------------------------------------------------------------------- */ namespace akantu { /* -------------------------------------------------------------------------- */ /** * A solid mechanics model need a mesh and a dimension to be created. the model * by it self can not do a lot, the good init functions should be called in * order to configure the model depending on what we want to do. * * @param mesh mesh representing the model we want to simulate * @param dim spatial dimension of the problem, if dim = 0 (default value) the * dimension of the problem is assumed to be the on of the mesh * @param id an id to identify the model */ SolidMechanicsModel::SolidMechanicsModel(Mesh & mesh, UInt dim, const ID & id, const MemoryID & memory_id, const ModelType model_type) : Model(mesh, model_type, dim, id, memory_id), material_index("material index", id, memory_id), material_local_numbering("material local numbering", id, memory_id) { AKANTU_DEBUG_IN(); this->registerFEEngineObject("SolidMechanicsFEEngine", mesh, Model::spatial_dimension); #if defined(AKANTU_USE_IOHELPER) this->mesh.registerDumper("solid_mechanics_model", id, true); this->mesh.addDumpMesh(mesh, Model::spatial_dimension, _not_ghost, _ek_regular); #endif material_selector = std::make_shared(material_index), this->initDOFManager(); this->registerDataAccessor(*this); if (this->mesh.isDistributed()) { auto & synchronizer = this->mesh.getElementSynchronizer(); this->registerSynchronizer(synchronizer, SynchronizationTag::_material_id); this->registerSynchronizer(synchronizer, SynchronizationTag::_smm_mass); this->registerSynchronizer(synchronizer, SynchronizationTag::_smm_stress); this->registerSynchronizer(synchronizer, SynchronizationTag::_for_dump); } AKANTU_DEBUG_OUT(); } /* -------------------------------------------------------------------------- */ SolidMechanicsModel::~SolidMechanicsModel() = default; /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::setTimeStep(Real time_step, const ID & solver_id) { Model::setTimeStep(time_step, solver_id); #if defined(AKANTU_USE_IOHELPER) this->mesh.getDumper().setTimeStep(time_step); #endif } /* -------------------------------------------------------------------------- */ /* Initialization */ /* -------------------------------------------------------------------------- */ /** * This function groups many of the initialization in on function. For most of * basics case the function should be enough. The functions initialize the * model, the internal vectors, set them to 0, and depending on the parameters * it also initialize the explicit or implicit solver. * * @param material_file the file containing the materials to use * @param method the analysis method wanted. See the akantu::AnalysisMethod for * the different possibilities */ void SolidMechanicsModel::initFullImpl(const ModelOptions & options) { material_index.initialize(mesh, _element_kind = _ek_not_defined, _default_value = UInt(-1), _with_nb_element = true); material_local_numbering.initialize(mesh, _element_kind = _ek_not_defined, _with_nb_element = true); Model::initFullImpl(options); // initialize the materials if (this->parser.getLastParsedFile() != "") { this->instantiateMaterials(); } this->initMaterials(); this->initBC(*this, *displacement, *displacement_increment, *external_force); } /* -------------------------------------------------------------------------- */ TimeStepSolverType SolidMechanicsModel::getDefaultSolverType() const { return TimeStepSolverType::_dynamic_lumped; } /* -------------------------------------------------------------------------- */ ModelSolverOptions SolidMechanicsModel::getDefaultSolverOptions( const TimeStepSolverType & type) const { ModelSolverOptions options; switch (type) { case TimeStepSolverType::_dynamic_lumped: { options.non_linear_solver_type = NonLinearSolverType::_lumped; options.integration_scheme_type["displacement"] = IntegrationSchemeType::_central_difference; options.solution_type["displacement"] = IntegrationScheme::_acceleration; break; } case TimeStepSolverType::_static: { options.non_linear_solver_type = NonLinearSolverType::_newton_raphson; options.integration_scheme_type["displacement"] = IntegrationSchemeType::_pseudo_time; options.solution_type["displacement"] = IntegrationScheme::_not_defined; break; } case TimeStepSolverType::_dynamic: { if (this->method == _explicit_consistent_mass) { options.non_linear_solver_type = NonLinearSolverType::_newton_raphson; options.integration_scheme_type["displacement"] = IntegrationSchemeType::_central_difference; options.solution_type["displacement"] = IntegrationScheme::_acceleration; } else { options.non_linear_solver_type = NonLinearSolverType::_newton_raphson; options.integration_scheme_type["displacement"] = IntegrationSchemeType::_trapezoidal_rule_2; options.solution_type["displacement"] = IntegrationScheme::_displacement; } break; } default: AKANTU_EXCEPTION(type << " is not a valid time step solver type"); } return options; } /* -------------------------------------------------------------------------- */ std::tuple SolidMechanicsModel::getDefaultSolverID(const AnalysisMethod & method) { switch (method) { case _explicit_lumped_mass: { return std::make_tuple("explicit_lumped", TimeStepSolverType::_dynamic_lumped); } case _explicit_consistent_mass: { return std::make_tuple("explicit", TimeStepSolverType::_dynamic); } case _static: { return std::make_tuple("static", TimeStepSolverType::_static); } case _implicit_dynamic: { return std::make_tuple("implicit", TimeStepSolverType::_dynamic); } default: return std::make_tuple("unknown", TimeStepSolverType::_not_defined); } } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::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->previous_displacement, spatial_dimension, "previous_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->blocked_dofs, spatial_dimension, "blocked_dofs"); this->allocNodalField(this->current_position, spatial_dimension, "current_position"); // initialize the current positions this->current_position->copy(this->mesh.getNodes()); /* ------------------------------------------------------------------------ */ if (!dof_manager.hasDOFs("displacement")) { dof_manager.registerDOFs("displacement", *this->displacement, _dst_nodal); dof_manager.registerBlockedDOFs("displacement", *this->blocked_dofs); dof_manager.registerDOFsIncrement("displacement", *this->displacement_increment); dof_manager.registerDOFsPrevious("displacement", *this->previous_displacement); } /* ------------------------------------------------------------------------ */ // for dynamic if (time_step_solver_type == TimeStepSolverType::_dynamic || time_step_solver_type == TimeStepSolverType::_dynamic_lumped) { this->allocNodalField(this->velocity, spatial_dimension, "velocity"); this->allocNodalField(this->acceleration, spatial_dimension, "acceleration"); if (!dof_manager.hasDOFsDerivatives("displacement", 1)) { dof_manager.registerDOFsDerivative("displacement", 1, *this->velocity); dof_manager.registerDOFsDerivative("displacement", 2, *this->acceleration); } } } /* -------------------------------------------------------------------------- */ /** * Initialize the model,basically it pre-compute the shapes, shapes derivatives * and jacobian */ void SolidMechanicsModel::initModel() { /// \todo add the current position as a parameter to initShapeFunctions for /// large deformation getFEEngine().initShapeFunctions(_not_ghost); getFEEngine().initShapeFunctions(_ghost); } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::assembleResidual() { AKANTU_DEBUG_IN(); /* ------------------------------------------------------------------------ */ // computes the internal forces this->assembleInternalForces(); /* ------------------------------------------------------------------------ */ this->getDOFManager().assembleToResidual("displacement", *this->external_force, 1); this->getDOFManager().assembleToResidual("displacement", *this->internal_force, 1); AKANTU_DEBUG_OUT(); } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::assembleResidual(const ID & residual_part) { AKANTU_DEBUG_IN(); if ("external" == residual_part) { this->getDOFManager().assembleToResidual("displacement", *this->external_force, 1); AKANTU_DEBUG_OUT(); return; } if ("internal" == residual_part) { this->getDOFManager().assembleToResidual("displacement", *this->internal_force, 1); AKANTU_DEBUG_OUT(); return; } AKANTU_CUSTOM_EXCEPTION( debug::SolverCallbackResidualPartUnknown(residual_part)); AKANTU_DEBUG_OUT(); } /* -------------------------------------------------------------------------- */ MatrixType SolidMechanicsModel::getMatrixType(const ID & matrix_id) { // \TODO check the materials to know what is the correct answer if (matrix_id == "C") return _mt_not_defined; if (matrix_id == "K") { auto matrix_type = _unsymmetric; for (auto & material : materials) { matrix_type = std::max(matrix_type, material->getMatrixType(matrix_id)); } } return _symmetric; } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::assembleMatrix(const ID & matrix_id) { if (matrix_id == "K") { this->assembleStiffnessMatrix(); } else if (matrix_id == "M") { this->assembleMass(); } } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::assembleLumpedMatrix(const ID & matrix_id) { if (matrix_id == "M") { this->assembleMassLumped(); } } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::beforeSolveStep() { for (auto & material : materials) material->beforeSolveStep(); } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::afterSolveStep(bool converged) { for (auto & material : materials) material->afterSolveStep(converged); } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::predictor() { ++displacement_release; } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::corrector() { ++displacement_release; } /* -------------------------------------------------------------------------- */ /** * This function computes the internal forces as F_{int} = \int_{\Omega} N * \sigma d\Omega@f$ */ void SolidMechanicsModel::assembleInternalForces() { AKANTU_DEBUG_IN(); AKANTU_DEBUG_INFO("Assemble the internal forces"); this->internal_force->clear(); // compute the stresses of local elements AKANTU_DEBUG_INFO("Compute local stresses"); for (auto & material : materials) { material->computeAllStresses(_not_ghost); } /* ------------------------------------------------------------------------ */ /* Computation of the non local part */ if (this->non_local_manager) this->non_local_manager->computeAllNonLocalStresses(); // communicate the stresses AKANTU_DEBUG_INFO("Send data for residual assembly"); this->asynchronousSynchronize(SynchronizationTag::_smm_stress); // assemble the forces due to local stresses AKANTU_DEBUG_INFO("Assemble residual for local elements"); for (auto & material : materials) { material->assembleInternalForces(_not_ghost); } // finalize communications AKANTU_DEBUG_INFO("Wait distant stresses"); this->waitEndSynchronize(SynchronizationTag::_smm_stress); // assemble the stresses due to ghost elements AKANTU_DEBUG_INFO("Assemble residual for ghost elements"); for (auto & material : materials) { material->assembleInternalForces(_ghost); } AKANTU_DEBUG_OUT(); } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::assembleStiffnessMatrix() { AKANTU_DEBUG_IN(); AKANTU_DEBUG_INFO("Assemble the new stiffness matrix."); // Check if materials need to recompute the matrix bool need_to_reassemble = false; for (auto & material : materials) { need_to_reassemble |= material->hasMatrixChanged("K"); } if (need_to_reassemble) { this->getDOFManager().getMatrix("K").clear(); // call compute stiffness matrix on each local elements for (auto & material : materials) { material->assembleStiffnessMatrix(_not_ghost); } } AKANTU_DEBUG_OUT(); } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::updateCurrentPosition() { if (this->current_position_release == this->displacement_release) return; this->current_position->copy(this->mesh.getNodes()); auto cpos_it = this->current_position->begin(Model::spatial_dimension); auto cpos_end = this->current_position->end(Model::spatial_dimension); auto disp_it = this->displacement->begin(Model::spatial_dimension); for (; cpos_it != cpos_end; ++cpos_it, ++disp_it) { *cpos_it += *disp_it; } this->current_position_release = this->displacement_release; } /* -------------------------------------------------------------------------- */ const Array & SolidMechanicsModel::getCurrentPosition() { this->updateCurrentPosition(); return *this->current_position; } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::updateDataForNonLocalCriterion( ElementTypeMapReal & criterion) { const ID field_name = criterion.getName(); for (auto & material : materials) { if (!material->isInternal(field_name, _ek_regular)) continue; for (auto ghost_type : ghost_types) { material->flattenInternal(field_name, criterion, ghost_type, _ek_regular); } } } /* -------------------------------------------------------------------------- */ /* Information */ /* -------------------------------------------------------------------------- */ Real SolidMechanicsModel::getStableTimeStep() { AKANTU_DEBUG_IN(); Real min_dt = getStableTimeStep(_not_ghost); /// reduction min over all processors mesh.getCommunicator().allReduce(min_dt, SynchronizerOperation::_min); AKANTU_DEBUG_OUT(); return min_dt; } /* -------------------------------------------------------------------------- */ Real SolidMechanicsModel::getStableTimeStep(const GhostType & ghost_type) { AKANTU_DEBUG_IN(); Real min_dt = std::numeric_limits::max(); this->updateCurrentPosition(); Element elem; elem.ghost_type = ghost_type; for (auto type : mesh.elementTypes(Model::spatial_dimension, ghost_type, _ek_regular)) { elem.type = type; UInt nb_nodes_per_element = mesh.getNbNodesPerElement(type); UInt nb_element = mesh.getNbElement(type); auto mat_indexes = material_index(type, ghost_type).begin(); auto mat_loc_num = material_local_numbering(type, ghost_type).begin(); Array X(0, nb_nodes_per_element * Model::spatial_dimension); FEEngine::extractNodalToElementField(mesh, *current_position, X, type, _not_ghost); auto X_el = X.begin(Model::spatial_dimension, nb_nodes_per_element); for (UInt el = 0; el < nb_element; ++el, ++X_el, ++mat_indexes, ++mat_loc_num) { elem.element = *mat_loc_num; Real el_h = getFEEngine().getElementInradius(*X_el, type); Real el_c = this->materials[*mat_indexes]->getCelerity(elem); Real el_dt = el_h / el_c; min_dt = std::min(min_dt, el_dt); } } AKANTU_DEBUG_OUT(); return min_dt; } /* -------------------------------------------------------------------------- */ Real SolidMechanicsModel::getKineticEnergy() { AKANTU_DEBUG_IN(); Real ekin = 0.; UInt nb_nodes = mesh.getNbNodes(); if (this->getDOFManager().hasLumpedMatrix("M")) { auto m_it = this->mass->begin(Model::spatial_dimension); auto m_end = this->mass->end(Model::spatial_dimension); auto v_it = this->velocity->begin(Model::spatial_dimension); for (UInt n = 0; m_it != m_end; ++n, ++m_it, ++v_it) { const auto & v = *v_it; const auto & m = *m_it; Real mv2 = 0.; auto is_local_node = mesh.isLocalOrMasterNode(n); // bool is_not_pbc_slave_node = !isPBCSlaveNode(n); auto count_node = is_local_node; // && is_not_pbc_slave_node; if (count_node) { for (UInt i = 0; i < Model::spatial_dimension; ++i) { if (m(i) > std::numeric_limits::epsilon()) mv2 += v(i) * v(i) * m(i); } } ekin += mv2; } } else if (this->getDOFManager().hasMatrix("M")) { Array Mv(nb_nodes, Model::spatial_dimension); this->getDOFManager().assembleMatMulVectToArray("displacement", "M", *this->velocity, Mv); for (auto && data : zip(arange(nb_nodes), make_view(Mv, spatial_dimension), make_view(*this->velocity, spatial_dimension))) { ekin += std::get<2>(data).dot(std::get<1>(data)) * mesh.isLocalOrMasterNode(std::get<0>(data)); } } else { AKANTU_ERROR("No function called to assemble the mass matrix."); } mesh.getCommunicator().allReduce(ekin, SynchronizerOperation::_sum); AKANTU_DEBUG_OUT(); return ekin * .5; } /* -------------------------------------------------------------------------- */ Real SolidMechanicsModel::getKineticEnergy(const ElementType & type, UInt index) { AKANTU_DEBUG_IN(); UInt nb_quadrature_points = getFEEngine().getNbIntegrationPoints(type); Array vel_on_quad(nb_quadrature_points, Model::spatial_dimension); Array filter_element(1, 1, index); getFEEngine().interpolateOnIntegrationPoints(*velocity, vel_on_quad, Model::spatial_dimension, type, _not_ghost, filter_element); auto vit = vel_on_quad.begin(Model::spatial_dimension); auto vend = vel_on_quad.end(Model::spatial_dimension); Vector rho_v2(nb_quadrature_points); Real rho = materials[material_index(type)(index)]->getRho(); for (UInt q = 0; vit != vend; ++vit, ++q) { rho_v2(q) = rho * vit->dot(*vit); } AKANTU_DEBUG_OUT(); return .5 * getFEEngine().integrate(rho_v2, type, index); } /* -------------------------------------------------------------------------- */ Real SolidMechanicsModel::getExternalWork() { AKANTU_DEBUG_IN(); auto ext_force_it = external_force->begin(Model::spatial_dimension); auto int_force_it = internal_force->begin(Model::spatial_dimension); auto boun_it = blocked_dofs->begin(Model::spatial_dimension); decltype(ext_force_it) incr_or_velo_it; if (this->method == _static) { incr_or_velo_it = this->displacement_increment->begin(Model::spatial_dimension); } else { incr_or_velo_it = this->velocity->begin(Model::spatial_dimension); } Real work = 0.; UInt nb_nodes = this->mesh.getNbNodes(); for (UInt n = 0; n < nb_nodes; ++n, ++ext_force_it, ++int_force_it, ++boun_it, ++incr_or_velo_it) { const auto & int_force = *int_force_it; const auto & ext_force = *ext_force_it; const auto & boun = *boun_it; const auto & incr_or_velo = *incr_or_velo_it; bool is_local_node = this->mesh.isLocalOrMasterNode(n); // bool is_not_pbc_slave_node = !this->isPBCSlaveNode(n); bool count_node = is_local_node; // && is_not_pbc_slave_node; if (count_node) { for (UInt i = 0; i < Model::spatial_dimension; ++i) { if (boun(i)) work -= int_force(i) * incr_or_velo(i); else work += ext_force(i) * incr_or_velo(i); } } } mesh.getCommunicator().allReduce(work, SynchronizerOperation::_sum); if (this->method != _static) work *= this->getTimeStep(); AKANTU_DEBUG_OUT(); return work; } /* -------------------------------------------------------------------------- */ Real SolidMechanicsModel::getEnergy(const std::string & energy_id) { AKANTU_DEBUG_IN(); if (energy_id == "kinetic") { return getKineticEnergy(); } else if (energy_id == "external work") { return getExternalWork(); } Real energy = 0.; for (auto & material : materials) energy += material->getEnergy(energy_id); /// reduction sum over all processors mesh.getCommunicator().allReduce(energy, SynchronizerOperation::_sum); AKANTU_DEBUG_OUT(); return energy; } /* -------------------------------------------------------------------------- */ Real SolidMechanicsModel::getEnergy(const std::string & energy_id, const ElementType & type, UInt index) { AKANTU_DEBUG_IN(); if (energy_id == "kinetic") { return getKineticEnergy(type, index); } UInt mat_index = this->material_index(type, _not_ghost)(index); UInt mat_loc_num = this->material_local_numbering(type, _not_ghost)(index); Real energy = this->materials[mat_index]->getEnergy(energy_id, type, mat_loc_num); AKANTU_DEBUG_OUT(); return energy; } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::onElementsAdded(const Array & element_list, const NewElementsEvent & event) { AKANTU_DEBUG_IN(); this->material_index.initialize(mesh, _element_kind = _ek_not_defined, _with_nb_element = true, _default_value = UInt(-1)); this->material_local_numbering.initialize( mesh, _element_kind = _ek_not_defined, _with_nb_element = true, _default_value = UInt(-1)); ElementTypeMapArray filter("new_element_filter", this->getID(), this->getMemoryID()); - UInt count = 0; for (auto & elem : element_list) { if (mesh.getSpatialDimension(elem.type) != spatial_dimension) continue; if (!filter.exists(elem.type, elem.ghost_type)) filter.alloc(0, 1, elem.type, elem.ghost_type); filter(elem.type, elem.ghost_type).push_back(elem.element); - - ++count; } - if (count != 0) - this->assignMaterialToElements(&filter); + // this fails in parallel if the event is sent on facet between constructor + // and initFull \todo: to debug... + this->assignMaterialToElements(&filter); for (auto & material : materials) material->onElementsAdded(element_list, event); AKANTU_DEBUG_OUT(); } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::onElementsRemoved( const Array & element_list, const ElementTypeMapArray & new_numbering, const RemovedElementsEvent & event) { for (auto & material : materials) { material->onElementsRemoved(element_list, new_numbering, event); } } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::onNodesAdded(const Array & nodes_list, const NewNodesEvent & event) { AKANTU_DEBUG_IN(); UInt nb_nodes = mesh.getNbNodes(); if (displacement) { displacement->resize(nb_nodes, 0.); ++displacement_release; } if (mass) mass->resize(nb_nodes, 0.); if (velocity) velocity->resize(nb_nodes, 0.); if (acceleration) acceleration->resize(nb_nodes, 0.); if (external_force) external_force->resize(nb_nodes, 0.); if (internal_force) internal_force->resize(nb_nodes, 0.); if (blocked_dofs) blocked_dofs->resize(nb_nodes, 0.); if (current_position) current_position->resize(nb_nodes, 0.); if (previous_displacement) previous_displacement->resize(nb_nodes, 0.); if (displacement_increment) displacement_increment->resize(nb_nodes, 0.); for (auto & material : materials) { material->onNodesAdded(nodes_list, event); } need_to_reassemble_lumped_mass = true; need_to_reassemble_mass = true; AKANTU_DEBUG_OUT(); } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::onNodesRemoved(const Array & /*element_list*/, const Array & new_numbering, const RemovedNodesEvent & /*event*/) { if (displacement) { mesh.removeNodesFromArray(*displacement, new_numbering); ++displacement_release; } if (mass) mesh.removeNodesFromArray(*mass, new_numbering); if (velocity) mesh.removeNodesFromArray(*velocity, new_numbering); if (acceleration) mesh.removeNodesFromArray(*acceleration, new_numbering); if (internal_force) mesh.removeNodesFromArray(*internal_force, new_numbering); if (external_force) mesh.removeNodesFromArray(*external_force, new_numbering); if (blocked_dofs) mesh.removeNodesFromArray(*blocked_dofs, new_numbering); // if (increment_acceleration) // mesh.removeNodesFromArray(*increment_acceleration, new_numbering); if (displacement_increment) mesh.removeNodesFromArray(*displacement_increment, new_numbering); if (previous_displacement) mesh.removeNodesFromArray(*previous_displacement, new_numbering); } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::printself(std::ostream & stream, int indent) const { std::string space(indent, AKANTU_INDENT); stream << space << "Solid 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 << " ]" << std::endl; stream << space << " + nodals information [" << std::endl; displacement->printself(stream, indent + 2); if (velocity) velocity->printself(stream, indent + 2); if (acceleration) acceleration->printself(stream, indent + 2); if (mass) mass->printself(stream, indent + 2); external_force->printself(stream, indent + 2); internal_force->printself(stream, indent + 2); blocked_dofs->printself(stream, indent + 2); stream << space << " ]" << std::endl; stream << space << " + material information [" << std::endl; material_index.printself(stream, indent + 2); stream << space << " ]" << std::endl; stream << space << " + materials [" << std::endl; for (auto & material : materials) material->printself(stream, indent + 2); stream << space << " ]" << std::endl; stream << space << "]" << std::endl; } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::initializeNonLocal() { this->non_local_manager->synchronize(*this, SynchronizationTag::_material_id); } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::insertIntegrationPointsInNeighborhoods( const GhostType & ghost_type) { for (auto & mat : materials) { MaterialNonLocalInterface * mat_non_local; if ((mat_non_local = dynamic_cast(mat.get())) == nullptr) continue; ElementTypeMapArray quadrature_points_coordinates( "quadrature_points_coordinates_tmp_nl", this->id, this->memory_id); quadrature_points_coordinates.initialize(this->getFEEngine(), _nb_component = spatial_dimension, _ghost_type = ghost_type); for (auto & type : quadrature_points_coordinates.elementTypes( Model::spatial_dimension, ghost_type)) { this->getFEEngine().computeIntegrationPointsCoordinates( quadrature_points_coordinates(type, ghost_type), type, ghost_type); } mat_non_local->initMaterialNonLocal(); mat_non_local->insertIntegrationPointsInNeighborhoods( ghost_type, quadrature_points_coordinates); } } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::computeNonLocalStresses( const GhostType & ghost_type) { for (auto & mat : materials) { if (not aka::is_of_type(*mat)) continue; auto & mat_non_local = dynamic_cast(*mat); mat_non_local.computeNonLocalStresses(ghost_type); } } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::updateLocalInternal( ElementTypeMapReal & internal_flat, const GhostType & ghost_type, const ElementKind & kind) { const ID field_name = internal_flat.getName(); for (auto & material : materials) { if (material->isInternal(field_name, kind)) material->flattenInternal(field_name, internal_flat, ghost_type, kind); } } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::updateNonLocalInternal( ElementTypeMapReal & internal_flat, const GhostType & ghost_type, const ElementKind & kind) { const ID field_name = internal_flat.getName(); for (auto & mat : materials) { if (not aka::is_of_type(*mat)) continue; auto & mat_non_local = dynamic_cast(*mat); mat_non_local.updateNonLocalInternals(internal_flat, field_name, ghost_type, kind); } } /* -------------------------------------------------------------------------- */ FEEngine & SolidMechanicsModel::getFEEngineBoundary(const ID & name) { return getFEEngineClassBoundary(name); } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::splitElementByMaterial( const Array & elements, std::vector> & elements_per_mat) const { for (const auto & el : elements) { Element mat_el = el; mat_el.element = this->material_local_numbering(el); elements_per_mat[this->material_index(el)].push_back(mat_el); } } /* -------------------------------------------------------------------------- */ UInt SolidMechanicsModel::getNbData(const Array & 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); } switch (tag) { case SynchronizationTag::_material_id: { size += elements.size() * sizeof(UInt); break; } case SynchronizationTag::_smm_mass: { size += nb_nodes_per_element * sizeof(Real) * Model::spatial_dimension; // mass vector break; } case SynchronizationTag::_smm_for_gradu: { size += nb_nodes_per_element * Model::spatial_dimension * sizeof(Real); // displacement break; } case SynchronizationTag::_smm_boundary: { // force, displacement, boundary size += nb_nodes_per_element * Model::spatial_dimension * (2 * sizeof(Real) + sizeof(bool)); break; } case SynchronizationTag::_for_dump: { // displacement, velocity, acceleration, residual, force size += nb_nodes_per_element * Model::spatial_dimension * sizeof(Real) * 5; break; } default: { } } if (tag != SynchronizationTag::_material_id) { splitByMaterial(elements, [&](auto && mat, auto && elements) { size += mat.getNbData(elements, tag); }); } AKANTU_DEBUG_OUT(); return size; } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::packData(CommunicationBuffer & buffer, const Array & elements, const SynchronizationTag & tag) const { AKANTU_DEBUG_IN(); switch (tag) { case SynchronizationTag::_material_id: { this->packElementalDataHelper(material_index, buffer, elements, false, getFEEngine()); break; } case SynchronizationTag::_smm_mass: { packNodalDataHelper(*mass, buffer, elements, mesh); break; } case SynchronizationTag::_smm_for_gradu: { packNodalDataHelper(*displacement, buffer, elements, mesh); break; } case SynchronizationTag::_for_dump: { packNodalDataHelper(*displacement, buffer, elements, mesh); packNodalDataHelper(*velocity, buffer, elements, mesh); packNodalDataHelper(*acceleration, buffer, elements, mesh); packNodalDataHelper(*internal_force, buffer, elements, mesh); packNodalDataHelper(*external_force, buffer, elements, mesh); break; } case SynchronizationTag::_smm_boundary: { packNodalDataHelper(*external_force, buffer, elements, mesh); packNodalDataHelper(*velocity, buffer, elements, mesh); packNodalDataHelper(*blocked_dofs, buffer, elements, mesh); break; } default: { } } if (tag != SynchronizationTag::_material_id) { splitByMaterial(elements, [&](auto && mat, auto && elements) { mat.packData(buffer, elements, tag); }); } AKANTU_DEBUG_OUT(); } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::unpackData(CommunicationBuffer & buffer, const Array & elements, const SynchronizationTag & tag) { AKANTU_DEBUG_IN(); switch (tag) { case SynchronizationTag::_material_id: { for (auto && element : elements) { UInt recv_mat_index; buffer >> recv_mat_index; UInt & mat_index = material_index(element); if (mat_index != UInt(-1)) continue; // add ghosts element to the correct material mat_index = recv_mat_index; UInt index = materials[mat_index]->addElement(element); material_local_numbering(element) = index; } break; } case SynchronizationTag::_smm_mass: { unpackNodalDataHelper(*mass, buffer, elements, mesh); break; } case SynchronizationTag::_smm_for_gradu: { unpackNodalDataHelper(*displacement, buffer, elements, mesh); break; } case SynchronizationTag::_for_dump: { unpackNodalDataHelper(*displacement, buffer, elements, mesh); unpackNodalDataHelper(*velocity, buffer, elements, mesh); unpackNodalDataHelper(*acceleration, buffer, elements, mesh); unpackNodalDataHelper(*internal_force, buffer, elements, mesh); unpackNodalDataHelper(*external_force, buffer, elements, mesh); break; } case SynchronizationTag::_smm_boundary: { unpackNodalDataHelper(*external_force, buffer, elements, mesh); unpackNodalDataHelper(*velocity, buffer, elements, mesh); unpackNodalDataHelper(*blocked_dofs, buffer, elements, mesh); break; } default: { } } if (tag != SynchronizationTag::_material_id) { splitByMaterial(elements, [&](auto && mat, auto && elements) { mat.unpackData(buffer, elements, tag); }); } AKANTU_DEBUG_OUT(); } /* -------------------------------------------------------------------------- */ UInt SolidMechanicsModel::getNbData(const Array & dofs, const SynchronizationTag & tag) const { AKANTU_DEBUG_IN(); UInt size = 0; // UInt nb_nodes = mesh.getNbNodes(); switch (tag) { case SynchronizationTag::_smm_uv: { size += sizeof(Real) * Model::spatial_dimension * 2; break; } case SynchronizationTag::_smm_res: { size += sizeof(Real) * Model::spatial_dimension; break; } case SynchronizationTag::_smm_mass: { size += sizeof(Real) * Model::spatial_dimension; break; } case SynchronizationTag::_for_dump: { size += sizeof(Real) * Model::spatial_dimension * 5; break; } default: { AKANTU_ERROR("Unknown ghost synchronization tag : " << tag); } } AKANTU_DEBUG_OUT(); return size * dofs.size(); } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::packData(CommunicationBuffer & buffer, const Array & dofs, const SynchronizationTag & tag) const { AKANTU_DEBUG_IN(); switch (tag) { case SynchronizationTag::_smm_uv: { packDOFDataHelper(*displacement, buffer, dofs); packDOFDataHelper(*velocity, buffer, dofs); break; } case SynchronizationTag::_smm_res: { packDOFDataHelper(*internal_force, buffer, dofs); break; } case SynchronizationTag::_smm_mass: { packDOFDataHelper(*mass, buffer, dofs); break; } case SynchronizationTag::_for_dump: { packDOFDataHelper(*displacement, buffer, dofs); packDOFDataHelper(*velocity, buffer, dofs); packDOFDataHelper(*acceleration, buffer, dofs); packDOFDataHelper(*internal_force, buffer, dofs); packDOFDataHelper(*external_force, buffer, dofs); break; } default: { AKANTU_ERROR("Unknown ghost synchronization tag : " << tag); } } AKANTU_DEBUG_OUT(); } /* -------------------------------------------------------------------------- */ void SolidMechanicsModel::unpackData(CommunicationBuffer & buffer, const Array & dofs, const SynchronizationTag & tag) { AKANTU_DEBUG_IN(); switch (tag) { case SynchronizationTag::_smm_uv: { unpackDOFDataHelper(*displacement, buffer, dofs); unpackDOFDataHelper(*velocity, buffer, dofs); break; } case SynchronizationTag::_smm_res: { unpackDOFDataHelper(*internal_force, buffer, dofs); break; } case SynchronizationTag::_smm_mass: { unpackDOFDataHelper(*mass, buffer, dofs); break; } case SynchronizationTag::_for_dump: { unpackDOFDataHelper(*displacement, buffer, dofs); unpackDOFDataHelper(*velocity, buffer, dofs); unpackDOFDataHelper(*acceleration, buffer, dofs); unpackDOFDataHelper(*internal_force, buffer, dofs); unpackDOFDataHelper(*external_force, buffer, dofs); break; } default: { AKANTU_ERROR("Unknown ghost synchronization tag : " << tag); } } AKANTU_DEBUG_OUT(); } } // namespace akantu diff --git a/test/test_model/test_solid_mechanics_model/test_energies/test_solid_mechanics_model_work_quasistatic.cc b/test/test_model/test_solid_mechanics_model/test_energies/test_solid_mechanics_model_work_quasistatic.cc index 3db0ccd52..0b6c88348 100644 --- a/test/test_model/test_solid_mechanics_model/test_energies/test_solid_mechanics_model_work_quasistatic.cc +++ b/test/test_model/test_solid_mechanics_model/test_energies/test_solid_mechanics_model_work_quasistatic.cc @@ -1,147 +1,146 @@ /** * @file test_solid_mechanics_model_work_quasistatic.cc * * @author Tobias Brink * * @date creation: Wed Nov 29 2017 * @date last modification: Fri Jan 26 2018 * * @brief test work in quasistatic * * @section LICENSE * * Copyright (©) 2016-2018 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 . * * @section description * * Assuming that the potential energy of a linear elastic material * works correctly, the work in a static simulation must equal the * potential energy of the material. Since the work in static is an * infinitesimal work Fds, we need to integrate by increasing F from 0 * to F_final in steps. This test uses one Dirichlet boundary * condition (with u = 0.0, 0.1, and -0.1) and one Neumann boundary * condition for F on the opposite side. The final work must be the * same for all u. * */ /* -------------------------------------------------------------------------- */ #include "../test_solid_mechanics_model_fixture.hh" #include "mesh_utils.hh" /* -------------------------------------------------------------------------- */ using namespace akantu; namespace { TYPED_TEST(TestSMMFixture, WorkQuasistatic) { const auto spatial_dimension = this->spatial_dimension; getStaticParser().parse("test_solid_mechanics_model_" "work_material.dat"); /// model initialization - MeshUtils::buildFacets(*this->mesh); this->model->initFull(_analysis_method = _static); /// Create a node group for Neumann BCs. auto & apply_force_grp = this->mesh->createNodeGroup("apply_force"); auto & fixed_grp = this->mesh->createNodeGroup("fixed"); const auto & pos = this->mesh->getNodes(); auto & flags = this->model->getBlockedDOFs(); auto & lower = this->mesh->getLowerBounds(); auto & upper = this->mesh->getUpperBounds(); UInt i = 0; for (auto && data : zip(make_view(pos, spatial_dimension), make_view(flags, spatial_dimension))) { const auto & posv = std::get<0>(data); auto & flag = std::get<1>(data); if (posv(_x) > upper(_x) - 1e-6) { apply_force_grp.add(i); } else if (posv(_x) < lower(_x) + 1e-6) { fixed_grp.add(i); if ((spatial_dimension > 1) and (posv(_y) < lower(_y) + 1e-6)) { flag(_y) = true; if ((spatial_dimension > 2) and (posv(_z) < lower(_z) + 1e-6)) { flag(_z) = true; } } } ++i; } this->mesh->createElementGroupFromNodeGroup("el_apply_force", "apply_force", spatial_dimension - 1); this->mesh->createElementGroupFromNodeGroup("el_fixed", "fixed", spatial_dimension - 1); std::vector displacements{0.0, 0.1, -0.1}; for (auto && u : displacements) { this->model->applyBC(BC::Dirichlet::FixedValue(u, _x), "el_fixed"); Vector surface_traction(spatial_dimension); Real work = 0.0; Real Epot; static const UInt N = 100; for (UInt i = 0; i <= N; ++i) { this->model->getExternalForce().clear(); // reset external forces to zero surface_traction(_x) = (1.0 * i) / N; if (spatial_dimension == 1) { // \TODO: this is a hack to work // around non-implemented // BC::Neumann::FromTraction for 1D auto & force = this->model->getExternalForce(); for (auto && pair : zip(make_view(pos, spatial_dimension), make_view(force, spatial_dimension))) { auto & posv = std::get<0>(pair); auto & forcev = std::get<1>(pair); if (posv(_x) > upper(_x) - 1e-6) { forcev(_x) = surface_traction(_x); } } } else { this->model->applyBC(BC::Neumann::FromTraction(surface_traction), "el_apply_force"); } /// Solve. this->model->solveStep(); Epot = this->model->getEnergy("potential"); // In static, this is infinitesimal work! auto Fds = this->model->getEnergy("external work"); work += Fds; // integrate /// Check that no work was done for zero force. if (i == 0) { EXPECT_NEAR(work, 0.0, 1e-12); } } // Due to the finite integration steps, we make a rather large error // in our work integration, thus the allowed delta is 1e-2. EXPECT_NEAR(work, Epot, 1e-2); } } } // namespace diff --git a/test/test_model/test_solid_mechanics_model/test_solid_mechanics_model_fixture.hh b/test/test_model/test_solid_mechanics_model/test_solid_mechanics_model_fixture.hh index e6d9f601b..d7cedb61a 100644 --- a/test/test_model/test_solid_mechanics_model/test_solid_mechanics_model_fixture.hh +++ b/test/test_model/test_solid_mechanics_model/test_solid_mechanics_model_fixture.hh @@ -1,126 +1,130 @@ /** * @file test_solid_mechanics_model_fixture.hh * * @author Nicolas Richart * * @date creation: Tue Nov 14 2017 * @date last modification: Tue Feb 20 2018 * * @brief Main solif mechanics test file * * @section LICENSE * * Copyright (©) 2016-2018 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 . * */ /* -------------------------------------------------------------------------- */ #include "communicator.hh" #include "solid_mechanics_model.hh" #include "test_gtest_utils.hh" +#include "mesh_utils.hh" /* -------------------------------------------------------------------------- */ #include #include /* -------------------------------------------------------------------------- */ #ifndef __AKANTU_TEST_SOLID_MECHANICS_MODEL_FIXTURE_HH__ #define __AKANTU_TEST_SOLID_MECHANICS_MODEL_FIXTURE_HH__ using namespace akantu; // This fixture uses very small meshes with a volume of 1. template class TestSMMFixture : public ::testing::Test { public: static constexpr ElementType type = type_::value; static constexpr size_t spatial_dimension = ElementClass::getSpatialDimension(); void SetUp() override { this->mesh = std::make_unique(this->spatial_dimension); auto prank = Communicator::getStaticCommunicator().whoAmI(); if (prank == 0) { this->mesh->read(this->mesh_file); + if(spatial_dimension > 1 and mesh->getNbElement(spatial_dimension - 1) == 0) { + MeshUtils::buildFacets(*this->mesh); + } } mesh->distribute(); SCOPED_TRACE(std::to_string(this->type).c_str()); model = std::make_unique(*mesh, _all_dimensions, std::to_string(this->type)); } void initModel(const ID & input, const AnalysisMethod & analysis_method) { getStaticParser().parse(input); this->model->initFull(_analysis_method = analysis_method); if (analysis_method != _static) { auto time_step = this->model->getStableTimeStep() / 10.; this->model->setTimeStep(time_step); } // std::cout << "timestep: " << time_step << std::endl; if (this->dump_paraview) { std::stringstream base_name; base_name << "bar" << analysis_method << this->type; this->model->setBaseName(base_name.str()); this->model->addDumpFieldVector("displacement"); this->model->addDumpFieldVector("blocked_dofs"); if (analysis_method != _static) { this->model->addDumpField("velocity"); this->model->addDumpField("acceleration"); } if (this->mesh->isDistributed()) { this->model->addDumpField("partitions"); } this->model->addDumpFieldVector("external_force"); this->model->addDumpFieldVector("internal_force"); this->model->addDumpField("stress"); this->model->addDumpField("strain"); } } void TearDown() override { model.reset(nullptr); mesh.reset(nullptr); } protected: std::string mesh_file{std::to_string(this->type) + ".msh"}; std::unique_ptr mesh; std::unique_ptr model; bool dump_paraview{false}; }; template constexpr ElementType TestSMMFixture::type; template constexpr size_t TestSMMFixture::spatial_dimension; template using is_not_pentahedron = aka::negation, is_element>>; using TestElementTypesFiltered = tuple_filter_t; // using gtest_element_types = gtest_list_t; using gtest_element_types = gtest_list_t; TYPED_TEST_SUITE(TestSMMFixture, gtest_element_types); #endif /* __AKANTU_TEST_SOLID_MECHANICS_MODEL_FIXTURE_HH__ */