Flat-Joint Model Implementation
See this page for the documentation of this contact model.
contactmodelflatjoint.h
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// contactmodelflatjoint.h
#include "contactmodel/src/contactmodelmechanical.h"
#ifdef FLATJOINT_LIB
# define FLATJOINT_EXPORT EXPORT_TAG
#elif defined(NO_MODEL_IMPORT)
# define FLATJOINT_EXPORT
#else
# define FLATJOINT_EXPORT IMPORT_TAG
#endif
namespace cmodelsxd {
using namespace itasca;
class ContactModelFlatJoint : public ContactModelMechanical {
public:
enum PropertyKeys {
kwFjNr=1
, kwFjElem
, kwFjKn
, kwFjKs
, kwFjFric
, kwFjEmod
, kwFjKRatio
, kwFjRmul
, kwFjRadius
, kwFjGap0
, kwFjTen
, kwFjCoh
, kwFjFa
, kwFjF
, kwFjM
, kwFjState
, kwFjSlip
, kwFjMType
, kwFjA
, kwFjEgap
, kwFjGap
, kwFjNstr
, kwFjSstr
, kwFjSs
#ifdef THREED
, kwFjNa
#endif
, kwFjRelBr
, kwFjCen
, kwFjTrack
, kwUserArea
, kwFjCohRes
, kwFjResMode
};
FLATJOINT_EXPORT ContactModelFlatJoint();
FLATJOINT_EXPORT virtual ~ContactModelFlatJoint();
virtual void copy(const ContactModel *c) override;
virtual void archive(ArchiveStream &);
virtual QString getName() const { return "flatjoint"; }
virtual void setIndex(int i) { index_=i;}
virtual int getIndex() const {return index_;}
virtual QString getProperties() const { return "fj_nr"
",fj_elem"
",fj_kn"
",fj_ks"
",fj_fric"
",fj_emod"
",fj_kratio"
",fj_rmul"
",fj_radius"
",fj_gap0"
",fj_ten"
",fj_coh"
",fj_fa"
",fj_force"
",fj_moment"
",fj_state"
",fj_slip"
",fj_mtype"
",fj_area"
",fj_egap"
",fj_gap"
",fj_sigma"
",fj_tau"
",fj_shear"
#ifdef THREED
",fj_nal"
#endif
",fj_relbr"
",fj_cen"
",fj_track"
",user_area"
",fj_cohres"
",fj_resmode"
;}
enum EnergyKeys { kwEStrain=1,kwESlip};
virtual QString getEnergies() const { return "energy-strain,energy-slip";}
virtual double getEnergy(uint i) const; // Base 1
virtual bool getEnergyAccumulate(uint i) const; // Base 1
virtual void setEnergy(uint i,const double &d); // Base 1
virtual void activateEnergy() { if (energies_) return; energies_ = NEWC(Energies());}
virtual bool getEnergyActivated() const {return (energies_ !=0);}
enum FishCallEvents {fActivated=0,fBondBreak,fBroken,fSlipChange};
virtual QString getFishCallEvents() const { return "contact_activated,bond_break,broken,all_slip_change"; }
virtual QVariant getProperty(uint i,const IContact *) const;
virtual bool getPropertyGlobal(uint i) const;
virtual bool setProperty(uint i,const QVariant &v,IContact *);
virtual bool getPropertyReadOnly(uint i) const;
virtual bool supportsInheritance(uint ) const { return false; }
enum MethodKeys { kwBond=1, kwUnbond, KwDeformability, KwUpdateGeom, kwArea, kwInitialize};
virtual QString getMethods() const { return "bond"
",unbond"
",deformability"
",update_geometry"
",area"
",initialize"
;}
virtual QString getMethodArguments(uint i) const;
virtual bool setMethod(uint i,const QVector<QVariant> &vl,IContact *con=0); // Base 1 - returns true if timestep contributions need to be updated
virtual uint getMinorVersion() const;
virtual bool validate(ContactModelMechanicalState *state,const double ×tep);
virtual bool endPropertyUpdated(const QString &,const IContactMechanical *) { return false; }
virtual bool forceDisplacementLaw(ContactModelMechanicalState *state,const double ×tep);
virtual bool thermalCoupling(ContactModelMechanicalState*, ContactModelThermalState*, IContactThermal*, const double&);
virtual DVect2 getEffectiveTranslationalStiffness() const { return effectiveTranslationalStiffness();}
virtual DAVect getEffectiveRotationalStiffness() const { return effectiveRotationalStiffness(); }
virtual ContactModelFlatJoint *clone() const override { return NEWC(ContactModelFlatJoint()); }
virtual double getActivityDistance() const {return 0.0;}
virtual bool isOKToDelete() const { return !isBonded(); }
virtual void resetForcesAndMoments() { fj_f(DVect(0.0)); fj_m(DAVect(0.0)); for (int i=0; i<f_.size(); ++i) f_[i] = DVect(0.0); }
virtual void setForce(const DVect &v,IContact *);
virtual void setArea(const double &d) { userArea_ = d; }
virtual double getArea() const { return userArea_; }
virtual bool checkActivity(const double &inGap);
//virtual bool isSliding() const { return fj_s_; }
virtual bool isBonded() const { FOR(it,bmode_) if ((*it) == 3) return true; return false; }
virtual void unbond() { FOR(it,bmode_) *it = 0; }
int fj_nr() const {return fj_nr_;}
void fj_nr(int d) { fj_nr_= d;}
#ifdef THREED
int fj_n() const { return fj_na_ * fj_nr_; }
int fj_na() const {return fj_na_;}
void fj_na(int d) { fj_na_= d;}
#else
int fj_n() const { return fj_nr_; }
#endif
int fj_elem() const {return fj_elem_;}
void fj_elem(int d) { fj_elem_= d;}
const double & fj_kn() const {return fj_kn_;}
void fj_kn(const double &d) { fj_kn_ = d;}
const double & fj_ks() const {return fj_ks_;}
void fj_ks(const double &d) { fj_ks_ = d;}
const double & fj_fric() const {return fj_fric_;}
void fj_fric(const double &d) { fj_fric_ = d;}
const double & fj_rmul() const {return fj_rmul_;}
void fj_rmul(const double &d) { fj_rmul_ = d;}
const double & fj_gap0() const {return fj_gap0_;}
void fj_gap0(const double &d) { fj_gap0_ = d;}
const double & fj_ten() const {return fj_ten_;}
void fj_ten(const double &d) { fj_ten_ = d;}
const double & fj_coh() const {return fj_coh_;}
void fj_coh(const double &d) { fj_coh_ = d;}
const double & fj_cohres() const {return fj_cohres_;}
void fj_cohres(const double &d) { fj_cohres_ = d;}
const double & fj_fa() const {return fj_fa_;}
void fj_fa(const double &d) { fj_fa_ = d;}
const DVect & fj_f() const {return fj_f_;}
void fj_f(const DVect &f) { fj_f_=f;}
const DAVect & fj_m() const {return fj_m_;}
void fj_m(const DAVect &f) { fj_m_=f;}
const DAVect & fj_m_set() const {return fj_m_set_;}
void fj_m_set(const DAVect &f) { fj_m_set_=f;}
const double & rmin() const {return rmin_;}
void rmin(const double &d) { rmin_ = d;}
const double & rbar() const {return rbar_;}
void rbar(const double &d) { rbar_ = d;}
const int & fj_resmode() const {return fj_resmode_;}
void fj_resmode(const int &i) { fj_resmode_ = i;}
const double & atot() const {return atot_;}
void atot(const double &d) { atot_ = d;}
const bool propsFixed() const {return propsFixed_; }
void propsFixed(bool d) { propsFixed_ = d;}
int mType() const {return mType_; }
void mType(int d) { mType_ = d;}
const DVect & gap() const {return gap_; }
void gap(const DVect &d) { gap_ = d;}
const double & theta() const {return theta_; }
void theta(const double & d) { theta_ = d;}
#ifdef THREED
const double & thetaM() const {return thetaM_; }
void thetaM(const double & d) { thetaM_ = d;}
#else
double thetaM() const {return 0.0;}
#endif
bool hasEnergies() const {return energies_ ? true:false;}
double estrain() const {return hasEnergies() ? energies_->estrain_: 0.0;}
void estrain(const double &d) { if(!hasEnergies()) return; energies_->estrain_=d;}
double eslip() const {return hasEnergies() ? energies_->eslip_: 0.0;}
void eslip(const double &d) { if(!hasEnergies()) return; energies_->eslip_=d;}
uint inheritanceField() const {return inheritanceField_;}
void inheritanceField(uint i) {inheritanceField_ = i;}
const DVect2 & effectiveTranslationalStiffness() const {return effectiveTranslationalStiffness_;}
void effectiveTranslationalStiffness(const DVect2 &v ) {effectiveTranslationalStiffness_=v;}
const DAVect & effectiveRotationalStiffness() const {return effectiveRotationalStiffness_;}
void effectiveRotationalStiffness(const DAVect &v ) {effectiveRotationalStiffness_=v;}
// For contact specific plotting
virtual void getSphereList(const IContact *con,std::vector<DVect> *pos,std::vector<double> *rad,std::vector<double> *val);
#ifdef THREED
virtual void getDiskList(const IContact *con,std::vector<DVect> *pos,std::vector<DVect> *normal,std::vector<double> *radius,std::vector<double> *val);
#endif
virtual void getCylinderList(const IContact *con,std::vector<DVect> *bot,std::vector<DVect> *top,std::vector<double> *radlow,std::vector<double> *radhi,std::vector<double> *val);
/// Return the total force that the contact model holds.
virtual DVect getForce(const IContactMechanical *) const;
/// Return the total moment on 1 that the contact model holds
virtual DAVect getMomentOn1(const IContactMechanical *) const;
/// Return the total moment on 1 that the contact model holds
virtual DAVect getMomentOn2(const IContactMechanical *) const;
private:
static int index_;
struct Energies {
Energies() : estrain_(0.0), eslip_(0.0) {}
double estrain_; // elastic energy stored in contact
double eslip_; // work dissipated by friction
};
void updateEffectiveStiffness(ContactModelMechanicalState *state);
// inheritance fields
quint32 inheritanceField_;
int fj_nr_; // radial number of elements >= 1 (total in 2D)
#ifdef THREED
int fj_na_; // circumferential number of elements >= 3
#endif
int fj_elem_; // Element to be queried
double fj_kn_; // normal stiffness
double fj_ks_; // shear stiffness
double fj_fric_; // Coulomb friction coefficient
double fj_rmul_; // Radius multiplier
double fj_gap0_; // Initial gap
double fj_ten_; // Tensile strength
double fj_coh_; // Cohesive strength
double fj_cohres_; // Residual cohesive strength
double fj_fa_; // Friction angle
DVect fj_f_; // Force carried in the model
DAVect fj_m_; // Moment carried in the model
DAVect fj_m_set_; // When initializing forces then need an extra moment term
// Area related quantities
double rmin_; // min(Ra,Rb) where Ra & Rb are particle radii
double rbar_; // flat-joint radius [m]
double atot_; // flat-joint area [m^2]
std::vector<double> a_; // cross-sectional area of elem[fj_elem-1] [m^2]
#ifdef THREED
std::vector<DVect2> rBarl_; // centroid relative position of elem[fj_elem-1] [m] (3D)
#else
std::vector<double> rBarl_; // centroid relative position of elem[fj_elem-1] [m] (2D)
#endif
int fj_resmode_; // Residual mode
void setAreaQuantities(); // Set Rbar, Atot and A[]
DVect getRelElemPos(const IContact*,int ) const; // Return the relative location of element i
void setRelElemPos(const IContact*,int ,const DVect &); // Set the relative location of element i
bool propsFixed_; // {Rmul, N, G, bstate, mType} fixed, cannot reset
int mType_; // initial microstructural type
int getmType() const; // {1,2,3,4}={bonded, gapped, slit, other}
std::vector<int> bmode_; // bond mode - 0 unbonded, 1 failed in tension, 2 failed in shear, 3 bonded
std::vector<bool> smode_; // slip mode
bool Bonded(int e) const { return bmode_[e-1] == 3 ? true : false; }
// Set bstate and bmode (can only bond if fj_gap0_==0.0)
void bondElem(int iSeg,bool bBond);
// Set bstate & bmode
void breakBond(int iSeg,int fmode,ContactModelMechanicalState *state);
void slipChange(int iSeg,bool smode,ContactModelMechanicalState *state);
// For use in 2D only!
double tauC(const double &dSig,bool bBonded) const; // shear strength (positive) [N/m^2]
// INTERFACE RESPONSE QUANTITIES:
DVect gap_; // total relative displacement [m]
double theta_; // total relative rotation [rad]
#ifdef THREED
double thetaM_; // total relative rotation [rad]
double thbMag() const { return sqrt(theta_*theta_ + thetaM_*thetaM_); }
// unit-vector xi of middle surface system xi-eta
// (If both thb_l and thb_m are zero, then xi is undefined
// and returns zero for both components.)
double xi(int comp /* component (l,m) = (1,2) */) const;
#endif
std::vector<double> egap_; // gap at centroid of elem[fj_elem-1] [N]
std::vector<DVect> f_; // force on elem[fj_elem-1] [N]
void initVectors(); // Resize and zero all vector types based on current value of N
#ifdef TWOD
double gap(const double &x) const; // Gap (g>0 is open) along the interface, x in [0, 2*Rbar]
#else
double gap(const double &rl,const double &rm) const; // Gap (g>0 is open) gap at relative position (l,m) [m]
double sigBar( int e /* element, e = 1,2,...,Nel */ ) const; // normal stress at centroid of elem[eN-1] [N/m^2]
double tauBar( int e /* element, e = 1,2,...,Nel */ ) const; // shear stress at centroid of elem[eN-1] [N/m^2]
#endif
double computeStrainEnergy(int e /* element, e = 1,2,...,Nel */) const; // strain energy in elem[eN-1]
// For use in 2D only! Segment normal stress
double computeSig(const double &g0, /* gap at left end */
const double &g1, /* gap at right end */
const double &rbar, /* length is 2*rbar */
const double &dA, /* area */
bool bBonded /* bond state */
) const;
// For use in 2D only! Segment moment
double computeM(const double &g0, /* gap at left end */
const double &g1, /* gap at right end */
const double &rbar, /* length is 2*rbar */
bool bBonded /* bond state */
) const;
// For use in 2D only! getCase used by ComputeSig and ComputeM
int getCase(const double &g0, /* gap at left end */
const double &g1 /* gap at right end */
) const;
// Segment elastic shear-displacement increment, which is portion of
// increment that occurs while gap is negative.
double delUse(const double &gapStart, /* gap at start of FDlaw */
const double &gapEnd, /* gap at end of FDlaw */
bool bBonded, /* bond state */
const double &delUs /* shear displ. increment */
) const;
double userArea_; // Area as specified by the user
Energies * energies_; // energies
DVect2 effectiveTranslationalStiffness_;
DAVect effectiveRotationalStiffness_;
struct orientProps {
orientProps() : origNormal_(DVect(0.0)) {}
Quat orient1_;
Quat orient2_;
DVect origNormal_;
};
orientProps *orientProps_;
};
} // namespace itascaxd
// EoF
|
contactmodelflatjoint.cpp
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1422 1423 1424 | // contactmodelflatjoint.cpp
#include "contactmodelflatjoint.h"
#include "../version.txt"
#include "fish/src/parameter.h"
#include "utility/src/tptr.h"
#include "shared/src/mathutil.h"
#include "base/src/basetoqt.h"
#include "contactmodel/src/contactmodelthermal.h"
#include "kernel/interface/iprogram.h"
#include "module/interface/icontact.h"
#include "module/interface/icontactmechanical.h"
#include "module/interface/icontactthermal.h"
#include "module/interface/ifishcalllist.h"
#include "module/interface/ipiece.h"
#include "module/interface/ipiecemechanical.h"
#ifdef FLATJOINT_LIB
#ifdef _WIN32
int __stdcall DllMain(void *,unsigned, void *)
{
return 1;
}
#endif
extern "C" EXPORT_TAG const char *getName()
{
#if DIM==3
return "contactmodelmechanical3dflatjoint";
#else
return "contactmodelmechanical2dflatjoint";
#endif
}
extern "C" EXPORT_TAG unsigned getMajorVersion()
{
return MAJOR_VERSION;
}
extern "C" EXPORT_TAG unsigned getMinorVersion()
{
return MINOR_VERSION;
}
extern "C" EXPORT_TAG void *createInstance()
{
cmodelsxd::ContactModelFlatJoint *m = NEWC(cmodelsxd::ContactModelFlatJoint());
return (void *)m;
}
#endif // FLATJOINT_LIB
namespace cmodelsxd {
static const quint32 fjKnMask = 0x00002; // Base 1!
static const quint32 fjKsMask = 0x00004;
static const quint32 fjFricMask = 0x00008;
using namespace itasca;
int ContactModelFlatJoint::index_ = -1;
UInt ContactModelFlatJoint::getMinorVersion() const { return MINOR_VERSION;}
ContactModelFlatJoint::ContactModelFlatJoint() : inheritanceField_(fjKnMask|fjKsMask|fjFricMask)
, fj_nr_(2)
#ifdef THREED
, fj_na_(4)
#endif
, fj_elem_(1)
, fj_kn_(0.0)
, fj_ks_(0.0)
, fj_fric_(0.0)
, fj_rmul_(1.0)
, fj_gap0_(0.0)
, fj_ten_(0.0)
, fj_coh_(0.0)
, fj_cohres_(0.0)
, fj_fa_(0.0)
, fj_f_(0.0)
, fj_m_(0.0)
, fj_m_set_(0.0)
, rmin_(1.0)
, rbar_(0.0)
, atot_(0.0)
, a_(2)
, rBarl_(2)
, fj_resmode_(0)
, propsFixed_(false)
, mType_(3)
, bmode_(2)
, smode_(2)
, gap_(0.0)
, theta_(0.0)
#ifdef THREED
, thetaM_(0.0)
#endif
, egap_(2)
, f_(2)
, userArea_(0)
, energies_(0)
, effectiveTranslationalStiffness_(DVect2(0.0))
, effectiveRotationalStiffness_(DAVect(0.0))
, orientProps_(0)
{
initVectors();
setAreaQuantities();
//setFromParent(ContactModelMechanicalList::instance()->find(getName()));
}
ContactModelFlatJoint::~ContactModelFlatJoint() {
if (orientProps_)
delete orientProps_;
if (energies_)
delete energies_;
}
void ContactModelFlatJoint::archive(ArchiveStream &stream) {
stream & fj_nr_;
#ifdef THREED
stream & fj_na_;
#endif
stream & fj_elem_;
stream & fj_kn_;
stream & fj_ks_;
stream & fj_fric_;
stream & fj_rmul_;
stream & fj_gap0_;
stream & fj_ten_;
stream & fj_coh_;
stream & fj_fa_;
stream & fj_f_;
stream & fj_m_;
stream & rmin_;
stream & rbar_;
stream & atot_;
stream & a_;
stream & rBarl_;
stream & propsFixed_;
stream & mType_;
stream & bmode_;
stream & smode_;
stream & gap_;
stream & theta_;
#ifdef THREED
stream & thetaM_;
#endif
stream & egap_;
stream & f_;
if (stream.getArchiveState()==ArchiveStream::Save) {
bool b = false;
if (orientProps_) {
b = true;
stream & b;
stream & orientProps_->orient1_;
stream & orientProps_->orient2_;
stream & orientProps_->origNormal_;
} else
stream & b;
b = false;
if (energies_) {
b = true;
stream & b;
stream & energies_->estrain_;
stream & energies_->eslip_;
} else
stream & b;
} else {
bool b(false);
stream & b;
if (b) {
if (!orientProps_)
orientProps_ = NEWC(orientProps());
stream & orientProps_->orient1_;
stream & orientProps_->orient2_;
stream & orientProps_->origNormal_;
}
stream & b;
if (b) {
if (!energies_)
energies_ = NEWC(Energies());
stream & energies_->estrain_;
stream & energies_->eslip_;
}
}
stream & inheritanceField_;
stream & effectiveTranslationalStiffness_;
stream & effectiveRotationalStiffness_;
if (stream.getArchiveState()==ArchiveStream::Save || stream.getRestoreVersion() > 1)
stream & userArea_;
if (stream.getArchiveState()==ArchiveStream::Save || stream.getRestoreVersion() > 2)
stream & fj_m_set_;
if (stream.getArchiveState()==ArchiveStream::Save || stream.getRestoreVersion() > 3) {
stream & fj_cohres_;
stream & fj_resmode_;
}
}
void ContactModelFlatJoint::copy(const ContactModel *cm) {
ContactModelMechanical::copy(cm);
const ContactModelFlatJoint *in = dynamic_cast<const ContactModelFlatJoint*>(cm);
if (!in) throw std::runtime_error("Internal error: contact model dynamic cast failed.");
fj_nr(in->fj_nr());
#ifdef THREED
fj_na(in->fj_na());
#endif
fj_elem(in->fj_elem());
fj_kn(in->fj_kn());
fj_ks(in->fj_ks());
fj_fric(in->fj_fric());
fj_rmul(in->fj_rmul());
fj_gap0(in->fj_gap0());
fj_ten(in->fj_ten());
fj_coh(in->fj_coh());
fj_cohres(in->fj_cohres());
fj_fa(in->fj_fa());
fj_f(in->fj_f());
fj_m(in->fj_m());
fj_m_set(in->fj_m_set());
rmin(in->rmin());
rbar(in->rbar());
fj_resmode(in->fj_resmode());
atot(in->atot());
a_ = in->a_;
rBarl_ = in->rBarl_;
propsFixed(in->propsFixed());
mType(in->mType());
bmode_ = in->bmode_;
smode_ = in->smode_;
gap(in->gap());
theta(in->theta());
#ifdef THREED
thetaM(in->thetaM());
#endif
egap_ = in->egap_;
f_ = in->f_;
if (in->orientProps_) {
if (!orientProps_)
orientProps_ = NEWC(orientProps());
orientProps_->orient1_ = in->orientProps_->orient1_;
orientProps_->orient2_ = in->orientProps_->orient2_;
orientProps_->origNormal_ = in->orientProps_->origNormal_;
}
if (in->hasEnergies()) {
if (!energies_)
energies_ = NEWC(Energies());
estrain(in->estrain());
eslip(in->eslip());
}
userArea_ = in->userArea_;
inheritanceField(in->inheritanceField());
effectiveTranslationalStiffness(in->effectiveTranslationalStiffness());
effectiveRotationalStiffness(in->effectiveRotationalStiffness());
}
QVariant ContactModelFlatJoint::getProperty(uint i,const IContact *con) const {
QVariant var;
switch (i) {
case kwFjNr : return fj_nr();
case kwFjElem : return fj_elem();
case kwFjKn : return fj_kn();
case kwFjKs : return fj_ks();
case kwFjFric : return fj_fric();
case kwFjEmod : {
const IContactMechanical *c(convert_getcast<IContactMechanical>(con));
if (c ==nullptr) return 0.0;
double rsum(0.0);
if (c->getEnd1Curvature().y())
rsum += 1.0/c->getEnd1Curvature().y();
if (c->getEnd2Curvature().y())
rsum += 1.0/c->getEnd2Curvature().y();
if (userArea_) {
#ifdef THREED
rsum = std::sqrt(userArea_ / dPi);
#else
rsum = userArea_ / 2.0;
#endif
rsum += rsum;
}
return (fj_kn_ * rsum);
}
case kwFjKRatio : return (fj_ks_ == 0.0 ) ? 0.0 : (fj_kn_/fj_ks_);
case kwFjRmul : return fj_rmul();
case kwFjRadius : return rbar();
case kwFjGap0 : return fj_gap0();
case kwFjTen : return fj_ten();
case kwFjCoh : return fj_coh();
case kwFjFa : return fj_fa();
case kwFjF : var.setValue(fj_f()); return var;
case kwFjM : var.setValue(fj_m()); return var;
case kwFjState : return bmode_[fj_elem()-1];
case kwFjSlip : return smode_[fj_elem()-1];
case kwFjMType : return getmType();
case kwFjA : return a_[fj_elem()-1];
case kwFjEgap : return egap_[fj_elem()-1];
case kwFjGap : return gap().x();
case kwFjNstr : return -f_[fj_elem()-1].x() / a_[fj_elem()-1];
case kwFjSstr : return f_[fj_elem()-1].y() / a_[fj_elem()-1];
case kwFjSs : return tauC((-f_[fj_elem()-1].x() / a_[fj_elem()-1]),(bmode_[fj_elem()-1]==3));
case kwFjRelBr : var.setValue(DVect2(theta(),thetaM())); return var;
case kwFjCen : var.setValue(getRelElemPos(con,fj_elem()-1)); return var;
#ifdef THREED
case kwFjNa : return fj_na();
#endif
case kwFjTrack : var.setValue(orientProps_ ? true : false); return var;
case kwUserArea : return userArea_;
case kwFjCohRes : return fj_cohres();
case kwFjResMode: return fj_resmode();
}
assert(0);
return QVariant();
}
bool ContactModelFlatJoint::getPropertyGlobal(uint i) const {
switch (i) {
case kwFjF:
return false;
}
return true;
}
bool ContactModelFlatJoint::setProperty(uint i,const QVariant &v,IContact *c) {
bool ok(true);
switch (i) {
case kwFjNr: {
if (!propsFixed()) {
int val(v.toInt(&ok));
if (!ok || val < 1)
throw Exception("fj_nr must be an integer greater than 0.");
fj_nr(val);
if (fj_elem() > fj_n())
fj_elem(fj_n());
initVectors();
setAreaQuantities();
} else
throw Exception("fj_nr cannot be modified.");
return true;
}
case kwFjElem: {
int val(v.toInt(&ok));
if (!ok || val < 1 || val > fj_n())
throw Exception("fj_elem must be an integer between 1 and %1.",fj_n());
fj_elem(val);
return false;
}
case kwFjKn: {
double val(v.toDouble(&ok));
if (!ok || val<0.0)
throw Exception("fj_kn must be a positive double.");
fj_kn(val);
return true;
}
case kwFjKs: {
double val(v.toDouble(&ok));
if (!ok || val<0.0)
throw Exception("fj_ks must be a positive double.");
fj_ks(val);
return true;
}
case kwFjFric: {
double val(v.toDouble(&ok));
if (!ok || val<0.0)
throw Exception("fj_fric must be a positive double.");
fj_fric(val);
return false;
}
case kwFjRmul: {
if (!propsFixed()) {
double val(v.toDouble(&ok));
if (!ok || val<0.01)
throw Exception("fj_rmul must be a double greater than or equal to 0.01.");
fj_rmul(val);
setAreaQuantities();
return true;
} else
throw Exception("fj_rmul cannot be modified.");
return false;
}
case kwFjGap0: {
if (!propsFixed()) {
double val(v.toDouble(&ok));
if (!ok || val<0.0)
throw Exception("fj_gap0 must be a positive double.");
fj_gap0(val);
if (fj_gap0() > 0.0) {
for(int i=1; i<=fj_n(); ++i)
bondElem(i,false);
// surfaces are parallel w/ gap G
DVect temp(0.0);
temp.rx() = fj_gap0();
gap(temp);
theta(0.0);
}
} else
throw Exception("fj_gap0 cannot be modified.");
return true;
}
case kwFjTen: {
double val(v.toDouble(&ok));
if (!ok || val<0.0)
throw Exception("fj_ten must be a positive double.");
fj_ten(val);
return false;
}
case kwFjFa: {
double val(v.toDouble(&ok));
if (!ok || val<0.0)
throw Exception("fj_fa must be a positive double.");
fj_fa(val);
return false;
}
case kwFjCoh: {
double val(v.toDouble(&ok));
if (!ok || val<0.0)
throw Exception("fj_coh must be a positive double.");
fj_coh(val);
return false;
}
case kwFjA: {
double val(v.toDouble(&ok));
if (!ok || val<0.0)
throw Exception("fj_area must be a positive double.");
a_[fj_elem()-1] = val;
return false;
}
case kwFjNstr: {
double val(v.toDouble(&ok));
if (!ok || val<0.0)
throw Exception("fj_sigma must be a positive double.");
f_[fj_elem()-1].rx() = -val * a_[fj_elem()-1];
return false;
}
case kwFjSstr: {
double val(v.toDouble(&ok));
if (!ok || val<0.0)
throw Exception("fj_tau must be a positive double.");
f_[fj_elem()-1].ry() = val * a_[fj_elem()-1];
return false;
}
#ifdef THREED
case kwFjNa: {
if (!propsFixed()) {
int val(v.toInt(&ok));
if (!ok || val < 1)
throw Exception("fj_na must be an integer greater than 0.");
fj_na(val);
if (fj_elem() > fj_n())
fj_elem(fj_n());
initVectors();
setAreaQuantities();
} else
throw Exception("fj_na cannot be modified.");
return true;
}
#endif
case kwFjCen: {
if (!v.canConvert<DVect>())
throw Exception("fj_cen cannot be modified.");
DVect val(v.value<DVect>());
int el = fj_elem()-1;
setRelElemPos(c,el,val);
return false;
}
case kwFjTrack: {
if (!v.canConvert<bool>())
throw Exception("fj_track must be a boolean.");
bool b = v.toBool();
if (b) {
if (!orientProps_)
orientProps_ = NEWC(orientProps());
} else {
if (orientProps_) {
delete orientProps_;
orientProps_ = 0;
}
}
return true;
}
case kwUserArea: {
if (!v.canConvert<double>())
throw Exception("user_area must be a double.");
double val(v.toDouble());
if (val < 0.0)
throw Exception("Negative user_area not allowed.");
userArea_ = val;
propsFixed_ = false;
return true;
}
case kwFjCohRes: {
double val(v.toDouble(&ok));
if (!ok || val<0.0)
throw Exception("fj_cohres must be a positive double.");
fj_cohres(val);
return false;
}
case kwFjResMode: {
int val(v.toInt(&ok));
if (!ok || (val != 0 && val != 1))
throw Exception("fj_resmode must be 0 or 1.");
fj_resmode(val);
return false;
}
}
return false;
}
bool ContactModelFlatJoint::getPropertyReadOnly(uint i) const {
switch (i) {
case kwFjF:
case kwFjM:
case kwFjGap:
case kwFjRelBr:
case kwFjState:
case kwFjSlip:
case kwFjEgap:
case kwFjNstr:
case kwFjSstr:
case kwFjSs:
case kwFjRadius:
return true;
default:
break;
}
return false;
}
QString ContactModelFlatJoint::getMethodArguments(uint i) const {
switch (i) {
case kwBond:
case kwUnbond:
return "gap,element";
case KwDeformability:
return "emod,kratio";
case kwInitialize:
return "force,moment";
}
return QString();
}
bool ContactModelFlatJoint::setMethod(uint i,const QVector<QVariant> &vl,IContact *con) {
IContactMechanical *c(convert_getcast<IContactMechanical>(con));
bool bond(false);
switch (i) {
case kwBond:
bond = true;
case kwUnbond: {
int seg(0);
double mingap = -1.0 * limits<double>::max();
double maxgap = 0;
if (vl.size()==2) {
// The first is the gap
QVariant arg = vl.at(0);
if (!arg.isNull()) {
if (arg.canConvert<Double>())
maxgap = vl.at(0).toDouble();
else if (arg.canConvert<DVect2>()) {
DVect2 value = vl.at(0).value<DVect2>();
mingap = value.minComp();
maxgap = value.maxComp();
} else
throw Exception("Argument %1 not recognized in method %2 in contact model %3.",vl.at(0),bond ? "bond":"unbond",getName());
}
arg = vl.at(1);
if (!arg.isNull()) {
seg = vl.at(1).toUInt();
if (seg < 1)
throw Exception("Element indices start at 1 in method %1 in contact model %2.",bond ? "bond":"unbond",getName());
if (seg > fj_n())
throw Exception("Element index %1 exceeds segments number (%2) in method %3 in contact model %4.",seg,fj_n(),bond ? "bond":"unbond",getName());
}
}
double gap = c->getGap();
if (gap >= mingap && gap <= maxgap) {
if (!seg) {
for(int iSeg=1; iSeg<=fj_n(); ++iSeg)
bondElem(iSeg,bond);
} else {
bondElem(seg,bond);
}
// If have installed bonds and tracking is enabled then set the contact normal appropriately
if (orientProps_) {
orientProps_->orient1_ = Quat::identity();
orientProps_->orient2_ = Quat::identity();
orientProps_->origNormal_ = toVect(con->getNormal());
}
}
return true;
}
case KwDeformability:
{
double emod;
double krat;
if (vl.at(0).isNull())
throw Exception("Argument emod must be specified with method deformability in contact model %1.",getName());
emod = vl.at(0).toDouble();
if (emod<0.0)
throw Exception("Negative emod not allowed in contact model %1.",getName());
if (vl.at(1).isNull())
throw Exception("Argument kratio must be specified with method deformability in contact model %1.",getName());
krat = vl.at(1).toDouble();
if (krat<0.0)
throw Exception("Negative stiffness ratio not allowed in contact model %1.",getName());
double rsum(0.0);
if (c->getEnd1Curvature().y())
rsum += 1.0/c->getEnd1Curvature().y();
if (c->getEnd2Curvature().y())
rsum += 1.0/c->getEnd2Curvature().y();
if (userArea_) {
#ifdef THREED
rsum = std::sqrt(userArea_ / dPi);
#else
rsum = userArea_ / 2.0;
#endif
rsum += rsum;
}
fj_kn_ = emod / rsum;
fj_ks_ = (krat == 0.0) ? 0.0 : fj_kn_ / krat;
return true;
}
case KwUpdateGeom: {
// go through and update the total area (atot) and the
// radius rbar
double at = 0.0;
for (int i=1; i<=fj_n(); ++i)
at += a_[i-1];
atot(at);
//get the equivalent radius
#ifdef THREED
rbar(sqrt(at/dPi));
#else
rbar(at/2.0);
#endif
return true;
}
case kwArea: {
if (!userArea_) {
double rsq(1./std::max(c->getEnd1Curvature().y(),c->getEnd2Curvature().y()));
#ifdef THREED
userArea_ = rsq * rsq * dPi;
#else
userArea_ = rsq * 2.0;
#endif
}
return true;
}
case kwInitialize: {
DVect force;
DAVect moment;
if (vl.at(0).isNull())
throw Exception("Argument force must be specified with method initialize in contact model %1.",getName());
force = vl.at(0).value<DVect>();
if (vl.at(1).isNull())
throw Exception("Argument moment must be specified with method initialize in contact model %1.",getName());
#ifdef THREED
moment = vl.at(1).value<DVect>();
#else
moment.rz() = vl.at(1).toDouble();
#endif
// Set the gap accordingly to get the correct force
setForce(force,con);
fj_m_set(moment);
return true;
}
}
return false;
}
double ContactModelFlatJoint::getEnergy(uint i) const {
double ret(0.0);
if (!energies_)
return ret;
switch (i) {
case kwEStrain: return energies_->estrain_;
case kwESlip: return energies_->eslip_;
}
assert(0);
return ret;
}
bool ContactModelFlatJoint::getEnergyAccumulate(uint i) const {
switch (i) {
case kwEStrain: return false;
case kwESlip: return true;
}
assert(0);
return false;
}
void ContactModelFlatJoint::setEnergy(uint i,const double &d) {
if (!energies_) return;
switch (i) {
case kwEStrain: energies_->estrain_ = d; return;
case kwESlip: energies_->eslip_ = d; return;
}
assert(0);
return;
}
bool ContactModelFlatJoint::validate(ContactModelMechanicalState *state,const double &) {
assert(state);
const IContactMechanical *c = state->getMechanicalContact();
assert(c);
// This presumes that one of the ends has a non-zero curvature
rmin(1.0/std::max(c->getEnd1Curvature().y(),c->getEnd2Curvature().y()));
if (userArea_) {
#ifdef THREED
rmin(std::sqrt(userArea_ / dPi));
#else
rmin(userArea_ / 2.0);
#endif
}
if (!propsFixed()) {
setAreaQuantities();
mType(getmType());
}
// Initialize the tracking if not initialized
if (orientProps_ && orientProps_->origNormal_ == DVect(0.0)) {
orientProps_->origNormal_ = toVect(c->getContact()->getNormal());
orientProps_->orient1_ = Quat::identity();
orientProps_->orient2_ = Quat::identity();
}
if (state->trackEnergy_)
activateEnergy();
updateEffectiveStiffness(state);
return checkActivity(state->gap_);
}
void ContactModelFlatJoint::updateEffectiveStiffness(ContactModelMechanicalState *) {
DVect2 ret(fj_kn_,fj_ks_);
ret *= atot();
effectiveTranslationalStiffness(ret);
#ifdef TWOD
effectiveRotationalStiffness(DAVect(fj_kn() * (2.0/3.0)*rbar()*rbar()*rbar()));
#else
double piR4 = dPi * rbar() * rbar() * rbar() * rbar();
double t = fj_kn() * 0.25 * piR4;
effectiveRotationalStiffness(DAVect(fj_ks() * 0.50 * piR4,t,t));
#endif
}
bool ContactModelFlatJoint::forceDisplacementLaw(ContactModelMechanicalState *state,const double ×tep) {
if (!propsFixed())
propsFixed(true);
timestep;
assert(state);
if (state->activated()) {
if (cmEvents_[fActivated] >= 0) {
auto c = state->getContact();
std::vector<fish::Parameter> arg = { fish::Parameter(c->getIThing()) };
IFishCallList *fi = const_cast<IFishCallList*>(state->getProgram()->findInterface<IFishCallList>());
fi->setCMFishCallArguments(c,arg,cmEvents_[fActivated]);
}
}
// Update the orientations
if (orientProps_) {
orientProps_->orient1_.increment(state->getMechanicalContact()->getEnd1Mechanical()->getAngVelocity()*timestep);
orientProps_->orient2_.increment(state->getMechanicalContact()->getEnd2Mechanical()->getAngVelocity()*timestep);
}
#ifdef TWOD
// Translational increment in local coordinates
DVect del_U = state->relativeTranslationalIncrement_;
double del_theta = state->relativeAngularIncrement_.z();
gap(gap() + del_U); // in normal and shear direction in 2D
theta(theta() + del_theta);
double dSig, dTau;
double delX = 2*rbar() / fj_n();
double rbar2 = rbar() / fj_n();
DVect dFSum(0.0);
double dMSum = 0.0;
if (state->trackEnergy_) {
assert(energies_);
energies_->estrain_ = 0.0;
}
bool oneBonded = false;
for(int i=0; i<fj_n(); ++i) {
double g0 = gap((i )*delX);
double g1 = gap((i+1)*delX);
double gMid = 0.5*(g0 + g1);
if (bmode_[i] != 3 && gMid > 0) {
egap_[i] = gMid;
f_[i] = DVect(0.0);
continue;
}
dSig = computeSig(g0,g1,rbar2,a_[i],(bmode_[i]==3));
bool tensileBreak = false;
if (bmode_[i]==3) {
if (state->canFail_ && dSig >= fj_ten()) {
breakBond(i+1,1,state);
dSig = dTau = 0.0;
tensileBreak = true;
}
}
if (!tensileBreak) {
dTau = f_[i].y() / a_[i];
double dUse = delUse(egap_[i],gMid,(bmode_[i]==3),del_U.y());
double dtauP = dTau - fj_ks()*dUse;
double dtauPabs = abs(dtauP);
if (bmode_[i]==3) { // bonded
if (dtauPabs < tauC(dSig,true))
dTau = dtauP;
else {
if (state->canFail_) {
breakBond(i+1,2,state);
if (fj_resmode() == 0)
dSig = dTau = 0.0;
else
dTau = fj_cohres() - dSig * fj_fric();
}
}
} else { // unbonded
double dtauC = tauC(dSig,false);
if (dtauPabs <= dtauC) {
dTau = dtauP;
slipChange(i+1,false,state);
} else {
dTau = dtauP * ( dtauC / dtauPabs );
slipChange(i+1,true,state);
if (state->trackEnergy_) { energies_->eslip_ += dtauC*a_[i]*abs(dUse);}
}
}
}
oneBonded = true;
egap_[i] = gMid;
f_[i] = DVect(-dSig*a_[i],dTau*a_[i]);
dFSum += f_[i];
double m = computeM(g0,g1,rbar2,(bmode_[i]==3)) + fj_m_set().z()/fj_n();
dMSum += m - rBarl_[i]*f_[i].x();
if (state->trackEnergy_) {
if (fj_kn_) {
double ie = 2.0*rBarl_[i]*rBarl_[i]*rBarl_[i] / 3.0;
energies_->estrain_ += 0.5*(dSig*dSig*a_[i] + m*m/ie) / fj_kn_;
}
if (fj_ks_) {
energies_->estrain_ += 0.5 * dTau*dTau*a_[i] / fj_ks_;
}
}
}
//
fj_f(dFSum);
fj_m(DAVect(dMSum));
if (!oneBonded)
fj_m_set(DAVect(0.0));
#else
CAxes localSys = state->getMechanicalContact()->getContact()->getLocalSystem();
DVect trans = state->relativeTranslationalIncrement_; // translation increment in local coordinates
DAVect ang = state->relativeAngularIncrement_; // rotational increment in local coordinates
DVect shear(0.0,trans.y(),trans.z());
DVect del_Us = localSys.toGlobal(shear); // In global coordinates
// What is the twist in global coordinates?
DVect del_Theta_t = localSys.e1()*ang.x();
theta_ += ang.y();
thetaM_ += ang.z();
gap(gap() + trans);
if (state->trackEnergy_) {
assert(energies_);
energies_->estrain_ = 0.0;
}
DVect force(0.0);
DAVect mom(0.0);
bool oneBonded = false;
for (int e=1,i=0; e<=fj_n(); ++e, ++i) {
double gBar1 = gap( rBarl_[i].x(),rBarl_[i].y());
if (!Bonded(e) && gBar1 > 0) {
egap_[i] = gBar1;
f_[i] = DVect(0.0);
continue;
}
DVect r = localSys.e2()*rBarl_[i].x() + localSys.e3()*rBarl_[i].y(); // location of element point
double sigBar_e = sigBar(e);
f_[i].rx() = -sigBar_e * a_[i]; // Step 1...
if (Bonded(e) && (sigBar_e >= fj_ten())) { // break bond in tension
if (state->canFail_) {
breakBond(e,1,state);
f_[i] = DVect(0.0);
}
} else {
DVect del_us = del_Us + (del_Theta_t & r); // In global - has the twist in there
double del_usl = delUse(egap_[i],gBar1,Bonded(e),(del_us | localSys.e2()));
double del_usm = delUse(egap_[i],gBar1,Bonded(e),(del_us | localSys.e3()));
double Fs_lP = f_[i].y() - fj_ks() * a_[i] * del_usl;
double Fs_mP = f_[i].z() - fj_ks() * a_[i] * del_usm;
double FsPMag = sqrt( Fs_lP*Fs_lP + Fs_mP*Fs_mP );
double tauBarP = FsPMag / a_[i];
if ( !Bonded(e) ) {
double tau_c = sigBar_e < 0.0 ? fj_cohres()-fj_fric()*sigBar_e : 0.0;
if ( tauBarP <= tau_c ) {
f_[i].ry() = Fs_lP;
f_[i].rz() = Fs_mP;
slipChange(e,false,state);
} else { // enforce sliding
double sFac = tau_c * a_[i] / FsPMag;
f_[i].ry() = Fs_lP * sFac;
f_[i].rz() = Fs_mP * sFac;
slipChange(e,true,state);
if (state->trackEnergy_) { energies_->eslip_ += tau_c*a_[i]*sqrt(del_usl*del_usl+del_usm*del_usm);}
}
} else { // Bonded(e)
double tau_c = fj_coh() - sigBar_e * tan(dDegrad*fj_fa());
if ( tauBarP <= tau_c ) {
f_[i].ry() = Fs_lP;
f_[i].rz() = Fs_mP;
} else { // break bond in shear
if (state->canFail_) {
breakBond(e,2,state);
if (fj_resmode() == 0)
f_[i] = DVect(0.0);
else {
double newForce = fj_cohres() - sigBar_e * fj_fric();
if (!userArea_)
newForce *= a_[i];
else
newForce *= userArea_ / fj_n();
newForce /= std::sqrt(f_[i].y()*f_[i].y() + f_[i].z()*f_[i].z());
f_[i].ry() *= newForce;
f_[i].rz() *= newForce;
}
}
}
}
}
oneBonded = true;
force += f_[i];
mom += localSys.toLocal(r) & f_[i] + fj_m_set()/fj_n();
egap_[i] = gBar1;
if (state->trackEnergy_) {
energies_->estrain_ += computeStrainEnergy(e);
}
}
fj_f(force);
fj_m(mom);
if (!oneBonded)
fj_m_set(DAVect(0.0));
#endif
assert(fj_f_ == fj_f_);
return checkActivity(0.0);
}
bool ContactModelFlatJoint::thermalCoupling(ContactModelMechanicalState*, ContactModelThermalState* ts, IContactThermal*, const double&) {
// Account for thermal expansion in incremental mode
if (ts->gapInc_ == 0.0) return false;
DVect dg(0.0);
dg.rx() = ts->gapInc_;
gap(gap() + dg);
return true;
}
void ContactModelFlatJoint::setAreaQuantities() {
rbar(fj_rmul() * rmin());
#ifdef TWOD
atot(2.0 * rbar());
double v = atot()/fj_n();
for (int i=1; i<=fj_n(); ++i) {
a_[i-1] = v;
rBarl_[i-1] = rbar() * (double(-2*i + 1 + fj_n()) / fj_n());
}
#else
atot(dPi * rbar() * rbar());
double del_r = rbar() / fj_nr();
double del_al = 2.0*dPi / fj_na();
double fac = 2.0/3.0;
for (int i=0; i < fj_n(); ++i) {
double dVal = i / fj_na();
int I = (int)floor( dVal );
int J = i - I*fj_na();
double r1 = I * del_r;
double r2 = (I + 1) * del_r;
double al1 = J * del_al;
double al2 = (J + 1) * del_al;
a_[i] = 0.5 * (al2 - al1) * (r2*r2 - r1*r1);
rBarl_[i] = DVect2(((sin(al2) - sin(al1)) / (al2 - al1))*((r2*r2*r2 - r1*r1*r1)/(r2*r2 - r1*r1)),
((cos(al1) - cos(al2)) / (al2 - al1))*((r2*r2*r2 - r1*r1*r1)/(r2*r2 - r1*r1)))*fac;
}
#endif
updateEffectiveStiffness(0);
}
DVect ContactModelFlatJoint::getRelElemPos(const IContact* c,int i) const {
DVect ret(0.0);
if (c) {
ret = c->getPosition();
CAxes localSys = c->getLocalSystem();
#ifdef TWOD
ret += localSys.e2()*rBarl_[i];
#else
ret += localSys.e2()*rBarl_[i].x() + localSys.e3()*rBarl_[i].y();
#endif
}
return ret;
}
void ContactModelFlatJoint::setRelElemPos(const IContact* c,int i,const DVect &pos) {
// pos is a position in space in global coordinates
propsFixed(true);
if (c) {
// project onto the plane
DVect cp = c->getPosition();
DVect norm = toVect(c->getNormal());
double sd = norm|(cp - pos);
// np is the point on the plane
DVect np = pos+norm*sd;
np = np-cp;
CAxes localSys = c->getLocalSystem();
np = localSys.toLocal(np);
#ifdef TWOD
rBarl_[i] = np.y();
#else
rBarl_[i] = DVect2(np.y(),np.z());
#endif
}
}
int ContactModelFlatJoint::getmType() const {
if (propsFixed()) return mType();
//
if (fj_gap0() > 0.0) return 2;
//
// If we get to here, then G == 0.0.
bool AllBonded = true;
bool AllSlit = true;
for(int i=0; i<fj_n(); ++i) {
if (bmode_[i] != 3) AllBonded = false;
else AllSlit = false;
}
if (AllBonded) return 1;
if (AllSlit) return 3;
//
return 4;
}
void ContactModelFlatJoint::bondElem(int iSeg,bool bBond ) {
if (bBond) {
if (fj_gap0() == 0.0) {
bmode_[iSeg-1] = 3;
} else
bmode_[iSeg-1] = 0;
} else
bmode_[iSeg-1] = 0;
}
void ContactModelFlatJoint::breakBond(int iSeg,int fmode,ContactModelMechanicalState *state) {
bmode_[iSeg-1] = fmode;
if (cmEvents_[fBondBreak] >= 0) {
auto c = state->getContact();
std::vector<fish::Parameter> arg = { fish::Parameter(c->getIThing()),
fish::Parameter((qint64)iSeg),
fish::Parameter((qint64)fmode),
fish::Parameter(computeStrainEnergy(iSeg))
};
IFishCallList *fi = const_cast<IFishCallList*>(state->getProgram()->findInterface<IFishCallList>());
fi->setCMFishCallArguments(c,arg,cmEvents_[fBondBreak]);
}
if (!isBonded() && cmEvents_[fBroken] >= 0) {
auto c = state->getContact();
std::vector<fish::Parameter> arg = { fish::Parameter(c->getIThing()) };
IFishCallList *fi = const_cast<IFishCallList*>(state->getProgram()->findInterface<IFishCallList>());
fi->setCMFishCallArguments(c,arg,cmEvents_[fBroken]);
}
}
void ContactModelFlatJoint::slipChange(int iSeg,bool smode,ContactModelMechanicalState *state) {
bool emitEvent = false;
if (smode) {
if (!smode_[iSeg-1]) {
emitEvent = true;
smode_[iSeg-1] = smode;
}
} else {
if (smode_[iSeg-1]) {
emitEvent = true;
smode_[iSeg-1] = smode;
}
}
if (emitEvent && cmEvents_[fSlipChange] >= 0) {
auto c = state->getContact();
std::vector<fish::Parameter> arg = { fish::Parameter(c->getIThing()),
fish::Parameter((qint64)iSeg),
fish::Parameter(smode) };
IFishCallList *fi = const_cast<IFishCallList*>(state->getProgram()->findInterface<IFishCallList>());
fi->setCMFishCallArguments(c,arg,cmEvents_[fSlipChange]);
}
}
double ContactModelFlatJoint::tauC(const double &dSig,bool bBonded) const {
if (bBonded) return (fj_coh() + (tan(dDegrad*fj_fa()) * (-dSig)) );
else
return (dSig < 0.0 ? fj_cohres() - fj_fric() * dSig : 0.0 );
}
#ifdef THREED
double ContactModelFlatJoint::xi(int comp) const {
if (comp == 1) return abs(theta_) <= 1e-12 ? 0.0 : theta_/thbMag();
else return abs(thetaM_) <= 1e-12 ? 0.0 : thetaM_/thbMag();
}
#endif
void ContactModelFlatJoint::initVectors() {
a_.resize(fj_n());
rBarl_.resize(fj_n());
bmode_.resize(fj_n());
smode_.resize(fj_n());
egap_.resize(fj_n());
f_.resize(fj_n());
for (int i=0; i<fj_n(); ++i) {
a_[i] = egap_[i] = 0.0;
#ifdef THREED
rBarl_[i] = DVect2(0.0);
#else
rBarl_[i] = 0.0;
#endif
f_[i] = DVect(0.0);
bmode_[i] = 0;
smode_[i] = false;
}
}
#ifdef TWOD
double ContactModelFlatJoint::gap(const double &x) const {
return gap().x() + theta()*(x - rbar());
}
#else
double ContactModelFlatJoint::gap(const double &r_l,const double &r_m ) const {
return gap().x() + ( r_m*xi(1) - r_l*xi(2) ) * thbMag();
}
double ContactModelFlatJoint::sigBar(int e) const {
if (!Bonded(e)&& gap(rBarl_[e-1].x(),rBarl_[e-1].y()) >= 0.0)
return 0.0;
else
return fj_kn() * gap(rBarl_[e-1].x(),rBarl_[e-1].y());
}
double ContactModelFlatJoint::tauBar(int e) const {
return a_[e-1] <= 1e-12 ?
0.0 : sqrt(f_[e-1].y()*f_[e-1].y() + f_[e-1].z()*f_[e-1].z())/a_[e-1] ;
}
#endif
double ContactModelFlatJoint::computeStrainEnergy(int e) const {
double ret(0.0);
int i = e - 1;
#ifdef TWOD
double delX = 2 * rbar() / fj_n();
double g0 = gap((i)*delX);
double g1 = gap((i + 1)*delX);
double rbar2 = rbar() / fj_n();
double dSig = computeSig(g0, g1, rbar2, a_[i], (bmode_[i] == 3));
double m = computeM(g0, g1, rbar2, (bmode_[i] == 3));
double dTau = f_[i].y() / a_[i]; // only valid before failure
if (fj_kn_) {
double ie = 2.0*rBarl_[i] * rBarl_[i] * rBarl_[i] / 3.0;
ret += 0.5*(dSig*dSig*a_[i] + m * m / ie) / fj_kn_;
}
if (fj_ks_) {
ret += 0.5 * dTau*dTau*a_[i] / fj_ks_;
}
#else
if (fj_kn_) {
ret += 0.5*(sigBar(e)*sigBar(e)*a_[i]) / fj_kn_;
}
if (fj_ks_) {
ret += 0.5 * (f_[i].y()*f_[i].y() + f_[i].z()*f_[i].z()) / (fj_ks_*a_[i]);
}
#endif
return ret;
}
double ContactModelFlatJoint::computeSig(const double &g0,const double &g1,const double &rbar,
const double &dA,bool bBonded ) const {
double gTerm;
switch (getCase(g0, g1)) {
case 1:
if (bBonded) gTerm = (g0 + g1);
else if (g0 < 0.0) gTerm = -( g0*g0 / (g1 - g0) );
else gTerm = ( g1*g1 / (g1 - g0) );
break;
case 2:
if (bBonded) gTerm = (g0 + g1);
else gTerm = 0.0;
break;
case 3:
gTerm = (g0 + g1);
break;
}
return (fj_kn() * gTerm * rbar) / dA;
}
double ContactModelFlatJoint::computeM(const double &g0,const double &g1,const double &rbar,
bool bBonded) const {
double gTerm;
switch (getCase(g0,g1)) {
case 1:
if (bBonded) gTerm = -((g1 - g0) / 3.0);
else if (g0 < 0.0) gTerm = g0*g0*(g0 - 3.0*g1) / (3.0*(g1-g0)*(g1-g0));
else gTerm = -(((g1-g0)*(g1-g0)*(g1-g0) + g0*g0*(g0 - 3.0*g1))
/ (3.0*(g1-g0)*(g1-g0)));
break;
case 2:
if (bBonded) gTerm = -((g1 - g0) / 3.0);
else gTerm = 0.0;
break;
case 3:
gTerm = -((g1 - g0) / 3.0);
break;
}
return fj_kn() * gTerm * rbar*rbar;
}
int ContactModelFlatJoint::getCase(const double &g0,const double &g1) const {
if (g0 * g1 < 0.0) // Case 1: gap changes sign
return 1;
else if (g0 >= 0.0 && g1 >= 0.0) // Case 2: gap remains positive or zero
return 2;
else // Case 3: gap remains negative
return 3;
}
double ContactModelFlatJoint::delUse(const double &gapStart,const double &gapEnd,bool bBonded,
const double &delUs) const {
if ( bBonded ) return delUs;
if ( gapStart <= 0.0 ) {
if ( gapEnd <= 0.0 )
return delUs;
else { // gapEnd > 0.0
double xi = -gapStart / (gapEnd - gapStart);
return delUs * xi;
}
} else { // gapStart > 0.0
if ( gapEnd >= 0.0 )
return 0.0;
else { // gapEnd < 0.0
double xi = -gapStart / (gapEnd - gapStart);
return delUs * (1.0 - xi);
}
}
}
bool ContactModelFlatJoint::checkActivity(const double &inGap) {
// If any subcontact is bonded return true
FOR(it,bmode_) if ((*it) == 3)
return true;
// If the normal gap is less than 2*rbar return true
if (gap().x() < 2.0*rbar())
return true;
// check to see if there is overlap (based on the initial gap) to reset activity if the contact has been previously deactivated
if (inGap < 0) {
// reset the relative rotation
theta(0.0);
#ifdef THREED
thetaM(0.0);
#endif
// set the gap to be the current gap, removing the shear displacement
DVect inp(inGap,0.0);
gap(inp);
return true;
}
return false;
}
void ContactModelFlatJoint::setForce(const DVect &v,IContact *) {
fj_f_ = v;
DVect df = v / f_.size();
for (int i=0; i<f_.size(); ++i)
f_[i] = df;
// Set gap consistent with normal force
double at = userArea_;
if (!userArea_) {
for (int i = 1; i <= fj_n(); ++i)
at += a_[i - 1];
}
gap_.rx() = -1.0 * v.x() / (fj_kn_ * at);
}
void ContactModelFlatJoint::getSphereList(const IContact *con,std::vector<DVect> *pos,std::vector<double> *rad,std::vector<double> *val) {
assert(pos);
assert(rad);
assert(val);
if (!orientProps_)
return;
// find minimal radii for end1
double br = convert_getcast<IContactMechanical>(con)->getEnd1Curvature().y();
if (br) {
const IPiece *p = con->getEnd1();
FArray<const IContact*> arr;
p->getContactList(&arr);
double maxgap = 0.0;
FOR(ic,arr) {
const IContactMechanical *mc = convert_getcast<IContactMechanical>(*ic);
const IContactModelMechanical *mcm = mc->getModelMechanical();
if (mcm->getContactModel()->getIndex() == ContactModelFlatJoint::getIndex()) {
const ContactModelFlatJoint *in = dynamic_cast<const ContactModelFlatJoint*>(mcm);
maxgap = std::max<double>(maxgap,in->gap().x()- mc->getGap());
}
}
br = 1.0 / br - 0.5*maxgap;
const IContactMechanical *mc = convert_getcast<IContactMechanical>(con);
pos->push_back(convert_getcast<IPieceMechanical>(mc->getEnd1())->getPosition());
rad->push_back(br);
val->push_back(mc->getEnd1()->getIThing()->getID());
}
// Give the end2 sphere - bummer
br = convert_getcast<IContactMechanical>(con)->getEnd2Curvature().y();
if (br) {
const IPiece *p = con->getEnd2();
FArray<const IContact*> arr;
p->getContactList(&arr);
double maxgap = 0.0;
FOR(ic,arr) {
const IContactMechanical *mc = convert_getcast<IContactMechanical>(*ic);
const IContactModelMechanical *mcm = mc->getModelMechanical();
if (mcm->getContactModel()->getIndex() == ContactModelFlatJoint::getIndex()) {
const ContactModelFlatJoint *in = dynamic_cast<const ContactModelFlatJoint*>(mcm);
maxgap = std::max<double>(maxgap,in->gap().x()- mc->getGap());
}
}
br = 1.0 / br - 0.5*maxgap;
const IContactMechanical *mc = convert_getcast<IContactMechanical>(con);
pos->push_back(convert_getcast<IPieceMechanical>(mc->getEnd2())->getPosition());
rad->push_back(br);
val->push_back(mc->getEnd2()->getIThing()->getID());
}
}
#ifdef THREED
void ContactModelFlatJoint::getDiskList(const IContact *con,std::vector<DVect> *pos,std::vector<DVect> *normal,std::vector<double> *radius,std::vector<double> *val) {
assert(pos);
assert(normal);
assert(radius);
assert(val);
if (!orientProps_)
return;
// plot the contact plane right in the middle of the 2 normals
double rad = fj_rmul()*rmin();
DVect axis1 = orientProps_->orient1_.rotate(orientProps_->origNormal_);
DVect axis2 = orientProps_->orient2_.rotate(orientProps_->origNormal_);
DVect norm = ((axis1.unit()+axis2.unit())*0.5).unit();
pos->push_back(con->getPosition());
normal->push_back(norm);
radius->push_back(rad);
const IContactMechanical *mc = convert_getcast<IContactMechanical>(con);
val->push_back(mc->getLocalForce().mag());
}
#endif
void ContactModelFlatJoint::getCylinderList(const IContact *con,std::vector<DVect> *bot,std::vector<DVect> *top,std::vector<double> *radlow,std::vector<double> *radhi,std::vector<double> *val) {
assert(bot);
assert(top);
assert(radlow);
assert(radhi);
assert(val);
if (!orientProps_)
return;
const IContactMechanical *mc = convert_getcast<IContactMechanical>(con);
double br = mc->getEnd1Curvature().y(), br2 = mc->getEnd2Curvature().y();
if (userArea_) {
#ifdef THREED
br = std::sqrt(userArea_ / dPi);
#else
br = userArea_ / 2.0;
#endif
br = 1. / br;
br2 = br;
}
double cgap = mc->getGap();
if (br > 0 && br2 > 0) {
br = 1.0 / br;
br2 = 1.0 / br2;
double rad = fj_rmul()*rmin();
DVect bp = convert_getcast<IPieceMechanical>(mc->getEnd1())->getPosition();
DVect axis = orientProps_->orient1_.rotate(orientProps_->origNormal_);
bot->push_back(axis.unit()*(br-0.5*(gap().x()- cgap))+bp);
top->push_back(bp);
radlow->push_back(rad);
radhi->push_back(0.0);
val->push_back(mc->getEnd1()->getIThing()->getID());
bp = convert_getcast<IPieceMechanical>(mc->getEnd2())->getPosition();
axis = orientProps_->orient2_.rotate(orientProps_->origNormal_);
bot->push_back(axis.unit()*(br2-0.5*(gap().x()-cgap))*(-1.0)+bp);
top->push_back(bp);
radlow->push_back(rad);
radhi->push_back(0.0);
val->push_back(mc->getEnd2()->getIThing()->getID());
}
}
DVect ContactModelFlatJoint::getForce(const IContactMechanical *) const {
DVect ret(fj_f_);
return ret;
}
DAVect ContactModelFlatJoint::getMomentOn1(const IContactMechanical *c) const {
DVect force = getForce(c);
DAVect ret(fj_m_);
c->updateResultingTorqueOn1Local(force,&ret);
return ret;
}
DAVect ContactModelFlatJoint::getMomentOn2(const IContactMechanical *c) const {
DVect force = getForce(c);
DAVect ret(fj_m_);
c->updateResultingTorqueOn2Local(force,&ret);
return ret;
}
} // namespace itascaxd
// EoF
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