libgetfem++-dev 4.2.1~beta1~svn4635~dfsg-3+b1 / usr / include / getfem / getfem_Coulomb_friction.h

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/** @file getfem_Coulomb_friction.h
    @author Yves Renard <Yves.Renard@insa-lyon.fr>
    @author Julien Pommier <Julien.Pommier@insa-toulouse.fr>
    @date July 6, 2004.
    @brief Unilateral contact and Coulomb friction condition brick.
 */
#ifndef GETFEM_COULOMB_FRICTION_H__
#define GETFEM_COULOMB_FRICTION_H__

#include "getfem_modeling.h"

// header files for the new brick system

#include "getfem_contact_and_friction_nodal.h"
#include "getfem_contact_and_friction_integral.h"
#include "getfem_contact_and_friction_large_sliding.h"

namespace getfem {


//===========================================================================
//
//  Brick for the old brick system
//
//===========================================================================

# define MDBRICK_COULOMB_FRICTION 434245

  /**
   * Unilateral contact and Coulomb friction condition brick.
   * (for conformal small displacement problems)
   * @ingroup bricks
   */
  template<typename MODEL_STATE = standard_model_state>
  class mdbrick_Coulomb_friction : public mdbrick_abstract<MODEL_STATE>  {

    TYPEDEF_MODEL_STATE_TYPES;

    mdbrick_abstract<MODEL_STATE> &sub_problem;
    size_type num_fem;

    T_MATRIX BN, BT;
    typedef gmm::row_matrix<gmm::rsvector<value_type> > RT_MATRIX;
    typedef gmm::dense_matrix<bool> CH_MATRIX;
    RT_MATRIX AUG_M; // For Hansbo augmentation.
    CH_MATRIX CH_M; // For determining the Jacobian manually; only for 2D.
    VECTOR gap, threshold, WT, WN, friction_coef, RLN, RLT;
    value_type r, alpha, beta;
    size_type d, nbc;

    const mesh_fem *mf_u;
    gmm::sub_interval SUBU, SUBN, SUBT;

    bool Tresca_version, symmetrized, contact_only, really_stationary;

    template<typename VEC> static void ball_projection(const VEC &x,
                                                       value_type radius) {
      value_type a = gmm::vect_norm2(x);
      if (radius <= 0) gmm::clear(const_cast<VEC&>(x));
      else if (a > radius) gmm::scale(const_cast<VEC&>(x), radius/a);
    }

    template<class VEC, class VECR>
    static void ball_projection_grad_r(const VEC &x, value_type radius,
                                       VECR &g) {
      value_type a = gmm::vect_norm2(x);
      if (radius > 0 && a >= radius)
        gmm::copy(gmm::scaled(x, value_type(1)/a), g);
      else gmm::clear(g);
    }

    template <class VEC, class MAT>
    static void ball_projection_grad(const VEC &x, double radius, MAT &g) {
      if (radius <= value_type(0)) { gmm::clear(g); return; }
      gmm::copy(gmm::identity_matrix(), g);
      value_type a = gmm::vect_norm2(x);
      if (a >= radius) {
        gmm::scale(g, radius/a);
        // gmm::rank_one_update(g, gmm::scaled(x, -radius/(a*a*a)), x);
        for (size_type i = 0; i < x.size(); ++i)
          for (size_type j = 0; j < x.size(); ++j)
            g(i,j) -= radius*x[i]*x[j] / (a*a*a);
      }
    }

    void precomp(MODEL_STATE &MS, size_type i0) {
      size_type i1 = this->mesh_fem_positions[num_fem];
      gmm::resize(RLN, gmm::mat_nrows(BN));
      gmm::resize(RLT, gmm::mat_nrows(BT));
      SUBU = gmm::sub_interval(i0 + i1, mf_u->nb_dof());
      SUBN = gmm::sub_interval(i0 + sub_problem.nb_dof(), gmm::mat_nrows(BN));
      SUBT = gmm::sub_interval(i0 + sub_problem.nb_dof() + gmm::mat_nrows(BN),
                               gmm::mat_nrows(BT));
      gmm::add(gmm::sub_vector(MS.state(), SUBN), gmm::scaled(gap, r*alpha), RLN);
      if (gmm::vect_size(WN) > 0)
        gmm::mult_add(BN, gmm::scaled(WN, -r*alpha), RLN);
      gmm::mult_add(BN, gmm::scaled(gmm::sub_vector(MS.state(), SUBU),
                                    -r*alpha), RLN);
      if (gmm::mat_nrows(AUG_M) > 0)
        gmm::mult_add(AUG_M, gmm::scaled(gmm::sub_vector(MS.state(),SUBN),-r),
                      RLN);
      if (!contact_only) {
        gmm::copy(gmm::sub_vector(MS.state(), SUBT), RLT);
        if (gmm::vect_size(WT) > 0)
          gmm::mult_add(BT, gmm::scaled(WT, -r*beta), RLT);
        if (!really_stationary)
          gmm::mult_add(BT, gmm::scaled(gmm::sub_vector(MS.state(), SUBU),
                                        -r*beta), RLT);
      }
    }

    void proper_update(void) {
      mf_u = this->mesh_fems[num_fem];
      d = mf_u->linked_mesh().dim();
      gmm::resize(BN, nbc, mf_u->nb_dof());
      gmm::resize(BT, nbc*(d-1), mf_u->nb_dof());
      gmm::resize(gap, nbc); gmm::resize(friction_coef, nbc);
      gmm::resize(threshold, nbc);
      // gmm::resize(WT, mf_u->nb_dof()); gmm::resize(WN, mf_u->nb_dof());
      this->proper_additional_dof = gmm::mat_nrows(BN)
        + (contact_only ? 0 : gmm::mat_nrows(BT));
      this->proper_mixed_variables.clear();
      this->proper_mixed_variables.add(sub_problem.nb_dof(),
                                       this->proper_additional_dof);
    }

  public :

    inline size_type nb_contact_nodes(void) const
    { return gmm::mat_nrows(BN); }

    virtual void do_compute_tangent_matrix(MODEL_STATE &MS, size_type i0,
                                           size_type) {
      precomp(MS, i0);

      RT_MATRIX BBN(gmm::mat_nrows(BN), gmm::mat_ncols(BN));
      RT_MATRIX MM(nb_contact_nodes(), nb_contact_nodes());
      gmm::copy(gmm::scaled(BN, -alpha), BBN);
      if (gmm::mat_nrows(AUG_M) > 0)
        gmm::copy(gmm::scaled(AUG_M, -value_type(1)), MM);
      for (size_type i=0; i < nb_contact_nodes(); ++i) {
        if (gmm::mat_nrows(CH_M) > 0) {
          if (!CH_M(i, 0)) {
            gmm::clear(BBN[i]);
            if (gmm::mat_nrows(AUG_M) > 0) gmm::clear(MM[i]);
            MM(i, i) = -value_type(1)/r;
          }
        }
        else if (RLN[i] >= value_type(0)) {
          gmm::clear(BBN[i]);
          if (gmm::mat_nrows(AUG_M) > 0) gmm::clear(MM[i]);
          MM(i, i) = -value_type(1)/r;
        }
      }
      gmm::copy(BBN, gmm::sub_matrix(MS.tangent_matrix(), SUBN, SUBU));
      gmm::copy(MM, gmm::sub_matrix(MS.tangent_matrix(), SUBN));

//       gmm::copy(gmm::scaled(BN, -alpha),
//              gmm::sub_matrix(MS.tangent_matrix(), SUBN, SUBU));
//       gmm::clear(gmm::sub_matrix(MS.tangent_matrix(), SUBN));
//       if (gmm::mat_nrows(AUG_M) > 0)
//      gmm::copy(gmm::scaled(AUG_M, -value_type(1)),
//                gmm::sub_matrix(MS.tangent_matrix(), SUBN));
//       for (size_type i=0; i < nb_contact_nodes(); ++i) {
//      if (RLN[i] >= value_type(0)) {
//        gmm::clear(gmm::sub_matrix(MS.tangent_matrix(),
//                                   gmm::sub_interval(SUBN.first()+i,1),
//                                   SUBU));
//        if (gmm::mat_nrows(AUG_M) > 0)
//          gmm::clear(gmm::sub_matrix(MS.tangent_matrix(),
//                                gmm::sub_interval(SUBN.first()+i,1), SUBN));
//        MS.tangent_matrix()(SUBN.first()+i, SUBN.first()+i)=-value_type(1)/r;
//      }
//       }

      if (!contact_only) {
        base_matrix pg(d-1, d-1);
        base_vector vg(d-1);

        RT_MATRIX BBT(gmm::mat_nrows(BT), gmm::mat_ncols(BT));
        gmm::dense_matrix<value_type> BTi(d-1,  gmm::mat_ncols(BT));

        for (size_type i=0; i < nb_contact_nodes(); ++i) {
          gmm::sub_interval SUBI(i*(d-1), d-1);
          gmm::sub_interval SUBJ(SUBT.first()+i*(d-1),(d-1));
          gmm::sub_interval SUBJJ(i*(d-1),(d-1));
          value_type th = Tresca_version ? threshold[i]
            : - (MS.state())[SUBN.first()+i] * friction_coef[i];
          std::vector<double> rlt_CH(1);

          if (mat_nrows(CH_M) > 0) {
            if (!CH_M(i, 0)) th = 0.0;
            else th = 1.0;
            if (!CH_M(i, 1)) rlt_CH[0] = -2.0;
            else if (!CH_M(i, 2)) rlt_CH[0] = 2.0;
            else rlt_CH[0] = 0.0;
            ball_projection_grad(rlt_CH, th, pg);
          } else
            ball_projection_grad(gmm::sub_vector(RLT, SUBI), th, pg);
          if (!really_stationary)
            gmm::mult(gmm::scaled(pg, -beta),
                      gmm::sub_matrix(BT, SUBI,
                                      gmm::sub_interval(0, gmm::mat_ncols(BT))),
                      BTi);
          gmm::copy(BTi, gmm::sub_matrix(BBT, SUBJJ, SUBU));

          if (!Tresca_version) {
            if (mat_nrows(CH_M) > 0)
              ball_projection_grad_r(rlt_CH, th, vg);
            else
              ball_projection_grad_r(gmm::sub_vector(RLT, SUBI), th, vg);
            for (size_type k = 0; k < d-1; ++k)
              MS.tangent_matrix()(SUBT.first()+i*(d-1)+k, SUBN.first()+i)
                = - friction_coef[i] * vg[k] / r;
          }
          for (size_type j = 0; j < d-1; ++j) pg(j,j) -= value_type(1);
          gmm::copy(gmm::scaled(pg,value_type(1)/r),
                    gmm::sub_matrix(MS.tangent_matrix(), SUBJ));
        }
        T_MATRIX BBBT(gmm::mat_nrows(BT), gmm::mat_ncols(BT));
        gmm::copy(BBT, BBBT);
        gmm::copy(BBBT, gmm::sub_matrix(MS.tangent_matrix(), SUBT, SUBU));
      }

//       if (!contact_only) {
//      base_matrix pg(d-1, d-1);
//      base_vector vg(d-1);

//      for (size_type i=0; i < nb_contact_nodes(); ++i) {
//        gmm::sub_interval SUBI(i*(d-1), d-1);
//        gmm::sub_interval SUBJ(SUBT.first()+i*(d-1),(d-1));
//        value_type th = Tresca_version ? threshold[i]
//          : - (MS.state())[SUBN.first()+i] * friction_coef[i];

//        ball_projection_grad(gmm::sub_vector(RLT, SUBI), th, pg);
//        if (!really_stationary)
//          gmm::mult(gmm::scaled(pg, -beta),
//                    gmm::sub_matrix(BT, SUBI,
//                                    gmm::sub_interval(0,gmm::mat_ncols(BT))),
//                    gmm::sub_matrix(MS.tangent_matrix(), SUBJ, SUBU));

//        if (!Tresca_version) {
//          ball_projection_grad_r(gmm::sub_vector(RLT, SUBI), th, vg);
//          for (size_type k = 0; k < d-1; ++k)
//            MS.tangent_matrix()(SUBT.first()+i*(d-1)+k, SUBN.first()+i)
//              = - friction_coef[i] * vg[k] / r;
//        }
//        for (size_type j = 0; j < d-1; ++j) pg(j,j) -= value_type(1);
//        gmm::copy(gmm::scaled(pg,value_type(1)/r),
//                  gmm::sub_matrix(MS.tangent_matrix(), SUBJ));
//      }
//       }


      if (symmetrized) {
        T_MATRIX tmp(mf_u->nb_dof(), mf_u->nb_dof());

        gmm::resize(tmp, mf_u->nb_dof(), gmm::mat_nrows(BN));
        gmm::copy(gmm::transposed(gmm::sub_matrix(MS.tangent_matrix(),
                                                  SUBN, SUBU)), tmp);
        gmm::copy(tmp, gmm::sub_matrix(MS.tangent_matrix(), SUBU, SUBN));
        gmm::resize(tmp, mf_u->nb_dof(), mf_u->nb_dof());
        gmm::mult(gmm::transposed(gmm::scaled(BN,-r*alpha)),
                  gmm::sub_matrix(MS.tangent_matrix(), SUBN, SUBU), tmp);
        gmm::add(tmp, gmm::sub_matrix(MS.tangent_matrix(), SUBU));

        if (!contact_only) {
          gmm::mult(gmm::transposed(gmm::scaled(BT,-r*beta)),
                    gmm::sub_matrix(MS.tangent_matrix(), SUBT, SUBU), tmp);
          gmm::add(tmp, gmm::sub_matrix(MS.tangent_matrix(), SUBU));
          gmm::resize(tmp, mf_u->nb_dof(), gmm::mat_nrows(BT));
          gmm::copy(gmm::transposed(gmm::sub_matrix(MS.tangent_matrix(),
                                                    SUBT, SUBU)), tmp);
          gmm::copy(tmp, gmm::sub_matrix(MS.tangent_matrix(), SUBU, SUBT));
        }
      }
      else {
        gmm::copy(gmm::scaled(gmm::transposed(BN), value_type(-1)),
                  gmm::sub_matrix(MS.tangent_matrix(), SUBU, SUBN));
        if (!contact_only)
          gmm::copy(gmm::scaled(gmm::transposed(BT), value_type(-1)),
                    gmm::sub_matrix(MS.tangent_matrix(), SUBU, SUBT));
      }
    }

    virtual void do_compute_residual(MODEL_STATE &MS, size_type i0,size_type) {
      precomp(MS, i0);
      value_type c1(1);

      for (size_type i=0; i < nb_contact_nodes(); ++i) {
        RLN[i] = std::min(value_type(0), RLN[i]);
        if (!contact_only)
          ball_projection(gmm::sub_vector(RLT, gmm::sub_interval(i*(d-1),d-1)),
                          Tresca_version ? threshold[i]
                          : -friction_coef[i]*(MS.state())[SUBN.first()+i]);
      }

      if (symmetrized) {
        gmm::mult_add(gmm::transposed(BN), gmm::scaled(RLN, -c1),
                      gmm::sub_vector(MS.residual(), SUBU));
        if (!contact_only)
          gmm::mult_add(gmm::transposed(BT), gmm::scaled(RLT, -c1),
                        gmm::sub_vector(MS.residual(), SUBU));
      } else {
        gmm::mult_add(gmm::transposed(BN),
                      gmm::scaled(gmm::sub_vector(MS.state(), SUBN),-c1),
                      gmm::sub_vector(MS.residual(), SUBU));
        if (!contact_only)
          gmm::mult_add(gmm::transposed(BT),
                        gmm::scaled(gmm::sub_vector(MS.state(), SUBT),-c1),
                        gmm::sub_vector(MS.residual(), SUBU));
      }

      /* residual on LN */
      gmm::add(gmm::scaled(gmm::sub_vector(MS.state(), SUBN), -c1/r),
               gmm::scaled(RLN, c1/r), gmm::sub_vector(MS.residual(), SUBN));
      // gmm::scale(gmm::sub_vector(MS.residual(), SUBN), c1 / r);

      /* residual on LT */
      if (!contact_only) {
        gmm::add(gmm::scaled(gmm::sub_vector(MS.state(),SUBT), -c1/r),
                 gmm::scaled(RLT, c1/r), gmm::sub_vector(MS.residual(), SUBT));
        // gmm::scale(gmm::sub_vector(MS.residual(), SUBT), c1 / r);
      }
    }

    void init(void) {
      this->add_sub_brick(sub_problem);
      this->proper_is_linear_ = this->proper_is_coercive_ = false;
      this->proper_is_symmetric_ = symmetrized && contact_only;
      r = value_type(1);
      beta = value_type(1);
      alpha = value_type(1);
      this->force_update();
    }

    void set_stationary(bool b) { really_stationary = b; }
    void set_beta(value_type a) { beta = a; }
    value_type get_beta(void) const { return beta; }
    void set_alpha(value_type a) { alpha = a; }
    value_type get_alpha(void) const { return alpha; }
    template<typename MAT> void set_augmented_matrix(const MAT &M) {
      gmm::resize(AUG_M, gmm::mat_nrows(M), gmm::mat_ncols(M));
      gmm::copy(M, AUG_M);
    }

    void clear_character_matrix(void) { gmm::resize(CH_M, 0, 0); }
    template<typename MAT> void set_character_matrix(const MAT &M) {
      gmm::resize(CH_M, gmm::mat_nrows(M), gmm::mat_ncols(M));
      gmm::copy(M, CH_M);
    }

    void set_r(value_type r_) { r = r_; }
    value_type get_r(void) const { return r; }
    template <class VEC> void set_WT(const VEC &WT_)
    { gmm::resize(WT, gmm::vect_size(WT_)); gmm::copy(WT_, WT); }
    template <class VEC> void set_WN(const VEC &WN_)
    { gmm::resize(WN, gmm::vect_size(WN_)); gmm::copy(WN_, WN); }

    VECTOR &get_gap(void) { return gap; }
    const VECTOR &get_gap(void) const { return gap; }

    VECTOR &get_friction_coef(void) { return friction_coef; }
    const VECTOR &get_friction_coef(void) const { return friction_coef; }

    SUBVECTOR get_LN(MODEL_STATE &MS) {
      SUBN = gmm::sub_interval(this->first_index() + sub_problem.nb_dof(),
                               gmm::mat_nrows(BN));
      return gmm::sub_vector(MS.state(), SUBN);
    }

    SUBVECTOR get_LT(MODEL_STATE &MS) {
      SUBT = gmm::sub_interval(this->first_index() + sub_problem.nb_dof()
                               + gmm::mat_nrows(BN),  gmm::mat_nrows(BT));
      return gmm::sub_vector(MS.state(), SUBT);
    }

    /* contact and friction */
    template <class MAT, class VEC> mdbrick_Coulomb_friction
    (mdbrick_abstract<MODEL_STATE> &problem, const MAT &BN_, const VEC &gap_,
     scalar_type FC_, const MAT &BT_, size_type num_fem_=0)
      : sub_problem(problem), num_fem(num_fem_) {
      contact_only = Tresca_version = symmetrized = really_stationary = false;
      nbc = gmm::mat_nrows(BN_);
      init();
      gmm::copy(BN_, BN); gmm::copy(BT_, BT); gmm::copy(gap_, gap);
      std::fill(friction_coef.begin(), friction_coef.end(), FC_);
    }

    /* contact only.        */
    template <class MAT, class VEC> mdbrick_Coulomb_friction
    (mdbrick_abstract<MODEL_STATE> &problem, const MAT &BN_, const VEC &gap_,
     size_type num_fem_=0) : sub_problem(problem), num_fem(num_fem_) {
      contact_only = true;
      Tresca_version = symmetrized = really_stationary = false;
      nbc = gmm::mat_nrows(BN_);
      init();
      gmm::copy(BN_, BN); gmm::copy(gap_, gap);
    }

  };


}  /* end of namespace getfem.                                             */


#endif /* GETFEM_COULOMB_FRICTION_H__ */