Smooth-Joint Model Implementation
See this page for the documentation of this contact model.
contactmodelsmoothjoint.h
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// contactmodelsmoothjoint.h
#include "contactmodel/src/contactmodelmechanical.h"
#ifdef SMOOTHJOINT_LIB
# define SMOOTHJOINT_EXPORT EXPORT_TAG
#elif defined(NO_MODEL_IMPORT)
# define SMOOTHJOINT_EXPORT
#else
# define SMOOTHJOINT_EXPORT IMPORT_TAG
#endif
namespace cmodelsxd {
using namespace itasca;
class ContactModelSmoothJoint : public ContactModelMechanical {
public:
enum PropertyKeys {
kwKn=1
, kwKs
, kwFric
, kwDA
, kwState
, kwTen
, kwBCoh
, kwBFA
, kwShear
, kwRMul
, kwLarge
, kwFn
, kwFs
, kwGap
, kwNorm
, kwArea
, kwRad
, kwUn
, kwUs
, kwSlip
, kwDip
, kwDD
};
enum FishCallEvents { fBondBreak=0, fSlipChange };
SMOOTHJOINT_EXPORT ContactModelSmoothJoint();
SMOOTHJOINT_EXPORT virtual ~ContactModelSmoothJoint();
virtual void copy(const ContactModel *c) override;
virtual void archive(ArchiveStream &);
virtual QString getName() const { return "smoothjoint"; }
virtual void setIndex(int i) { index_=i;}
virtual int getIndex() const {return index_;}
virtual QString getProperties() const {
return "sj_kn"
",sj_ks"
",sj_fric"
",sj_da"
",sj_state"
",sj_ten"
",sj_coh"
",sj_fa"
",sj_shear"
",sj_rmul"
",sj_large"
",sj_fn"
",sj_fs"
",sj_gap"
",sj_unorm"
",sj_area"
",sj_radius"
",sj_un"
",sj_us"
",sj_slip"
",dip"
#ifdef THREED
",ddir"
#endif
;
}
virtual QString getFishCallEvents() const { return "bond_break,slip_change"; }
virtual QVariant getProperty(uint i,const IContact *con=0) const;
virtual bool getPropertyGlobal(uint i) const;
virtual bool setProperty(uint i,const QVariant &v,IContact *con=0);
virtual bool getPropertyReadOnly(uint i) const;
virtual bool supportsInheritance(uint i) const;
virtual bool getInheritance(uint i) const { assert(i<32); quint32 mask = to<quint32>(1 << i); return (inheritanceField_ & mask) ? true : false; }
virtual void setInheritance(uint i,bool b) { assert(i<32); quint32 mask = to<quint32>(1 << i); if (b) inheritanceField_ |= mask; else inheritanceField_ &= ~mask; }
enum MethodKeys {
kwSetForce=1,kwBond,kwUnbond
};
virtual QString getMethods() const {
return "sj_setforce,bond,unbond";
}
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;
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);}
virtual bool validate(ContactModelMechanicalState *state,const double ×tep);
virtual bool endPropertyUpdated(const QString &name,const IContactMechanical *c);
virtual bool forceDisplacementLaw(ContactModelMechanicalState *state,const double ×tep);
virtual DVect2 getEffectiveTranslationalStiffness() const {return effectiveTranslationalStiffness_;}
virtual DAVect getEffectiveRotationalStiffness() const {return DAVect(0.0);}
virtual ContactModelSmoothJoint *clone() const override { return NEWC(ContactModelSmoothJoint()); }
virtual double getActivityDistance() const {return 0.0;}
virtual void resetForcesAndMoments() { sj_Fn(0.0); sj_Fs(DVect(0.0)); }
virtual void setForce(const DVect &v,IContact *);
virtual void setArea(const double &) { throw Exception("The setArea method cannot be used with this contact model."); }
virtual double getArea() const { return 0.0; }
virtual bool isOKToDelete() const { return (!isBonded() && sj_large_); }
virtual bool checkActivity(const double &gap) { return ( !sj_large_ || gap <= 0.0 || isBonded()); }
virtual bool isSliding() const { return isjSliding_; }
virtual bool isBonded() const { return sj_state_ == 3; }
virtual void unbond() { sj_state_ = 0; }
virtual bool hasNormal() const { return true; }
virtual DVect3 getNormal() const { return toVect3(sj_unorm_); }
void sj_kn(const double &d) {sj_kn_ = d;}
void sj_ks(const double &d) {sj_ks_ = d;}
void sj_fric(const double &d) {sj_fric_ = d;}
void sj_da(const double &d) {sj_da_ = d;}
void sj_state(const double &d) {sj_state_ = d;}
void sj_bns(const double &d) {sj_bns_ = d;}
void sj_bcoh(const double &d) {sj_bcoh_ = d;}
void sj_bfa(const double &d) {sj_bfa_ = d;}
void dip(const double &d) {dip_ = d;}
void sj_rmul(const double &d) {sj_rmul_ = d;}
void sj_large(bool b) {sj_large_ = b;}
const double & sj_kn() const {return sj_kn_;}
const double & sj_ks() const {return sj_ks_;}
const double & sj_fric() const {return sj_fric_;}
const double & sj_da() const {return sj_da_;}
int sj_state() const {return sj_state_;}
const double & sj_bns() const {return sj_bns_;}
const double & sj_bcoh() const {return sj_bcoh_;}
const double & sj_bfa() const {return sj_bfa_;}
const double & dip() const {return dip_;}
const double & sj_rmul() const {return sj_rmul_;}
bool sj_large() const {return sj_large_;}
#ifdef THREED
const double & dd() const {return dd_;}
void dd(const double &d) {dd_ =d;}
#endif
void sj_unorm(const DVect &v) {sj_unorm_ = v;}
void sj_A(const double &d) {sj_A_ = d;}
void sj_rad(const double &d) {sj_rad_ = d;}
void sj_gap(const double &d) {sj_gap_ = d;}
void sj_Un(const double &d) {sj_Un_ = d;}
void sj_Us(const DVect &v) {sj_Us_ = v;}
void sj_Fn(const double &d) {sj_Fn_ = d;}
void sj_Fs(const DVect &v) {sj_Fs_ = v;}
void isjFlip(bool b) {isjFlip_ = b;}
void isjSliding(bool b) {isjSliding_ = b;}
const DVect & sj_unorm() const {return sj_unorm_;}
const double & sj_A() const {return sj_A_;}
const double & sj_rad() const {return sj_rad_;}
const double & sj_gap() const {return sj_gap_;}
const double & sj_Un() const {return sj_Un_;}
const DVect & sj_Us() const {return sj_Us_;}
const double & sj_Fn() const {return sj_Fn_;}
const DVect & sj_Fs() const {return sj_Fs_;}
bool isjFlip() const {return isjFlip_;}
bool isjSliding() const {return isjSliding_;}
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;}
bool geomRecomp() const {return geomRecomp_ ;}
void geomRecomp(bool b) {geomRecomp_ = b;}
/// 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
};
bool updateKn(const IContactMechanical *con);
bool updateKs(const IContactMechanical *con);
bool updateFric(const IContactMechanical *con);
void updateAreaAndNormal(ContactModelMechanicalState *state);
void updateAreaAndNormalContact(const IContact *c);
double calcBSS() const;
void updateEffectiveTranslationalStiffness();
// property set fields
quint32 inheritanceField_;
// smooth joint model - contact model properties
double sj_kn_; // normal stiffness
double sj_ks_; // shear stiffness
double sj_fric_; // Coulomb friction coefficient
double sj_da_; // Dilation angle (stored in radians, returned/set in degrees)
int sj_state_; // Bond state - 0 (NBNF), 1 (NBFT), 2 (NBFS), 3 (bonded)
double sj_bns_; // Bond normal (tensile) strength
double sj_bcoh_; // Bonded system cohesion
double sj_bfa_; // Bonded system friction angle (stored in radians, returned/set in degrees)
double dip_; // Dip angle (stored in radians, returned/set in degrees)
double sj_rmul_; // Radius multiplier
bool sj_large_; // Large strain indicator
// Internal state variables
DVect sj_unorm_; // Normal to the plane
double sj_A_; // Cross-sectional area
double sj_rad_; // Radius
double sj_gap_; // Gap - this can be user modified
double sj_Un_; // Normal displacement
DVect sj_Us_; // Shear displacement
double sj_Fn_; // Normal force
DVect sj_Fs_; // Shear force
bool isjFlip_; // In order to flip the order
bool isjSliding_;// True if this is sliding
DVect2 effectiveTranslationalStiffness_;
bool geomRecomp_; // If true then there must be a validate before FD!
#ifdef THREED
double dd_; // Dip direction (stored in radians, returned/set in degrees)
#endif
//DAVect effectiveRotationalStiffness_;
Energies *energies_;
};
} // namespace itascaxd
// EoF
|
contactmodelsmoothjoint.cpp
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#include "contactmodelsmoothjoint.h"
#include "../version.txt"
#include "fish/src/parameter.h"
#include "utility/src/tptr.h"
#include "base/src/basetoqt.h"
#include "kernel/interface/iprogram.h"
#include "module/interface/icontact.h"
#include "module/interface/icontactmechanical.h"
#include "module/interface/ifishcalllist.h"
#include "module/interface/ipiece.h"
#include "module/interface/ipiecemechanical.h"
#ifdef SMOOTHJOINT_LIB
#ifdef _WIN32
int __stdcall DllMain(void *,unsigned, void *)
{
return 1;
}
#endif
extern "C" EXPORT_TAG const char *getName()
{
#if DIM==3
return "contactmodelmechanical3dsmoothjoint";
#else
return "contactmodelmechanical2dsmoothjoint";
#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::ContactModelSmoothJoint *m = NEWC(cmodelsxd::ContactModelSmoothJoint());
return (void *)m;
}
#endif // SMOOTHJOINT_EXPORTS
namespace cmodelsxd {
static const quint32 sjKnMask = 0x00002; // Base 1!
static const quint32 sjKsMask = 0x00004;
static const quint32 sjFricMask = 0x00008;
using namespace itasca;
int ContactModelSmoothJoint::index_ = -1;
UInt ContactModelSmoothJoint::getMinorVersion() const { return MINOR_VERSION;}
ContactModelSmoothJoint::ContactModelSmoothJoint() : inheritanceField_(sjKnMask|sjKsMask|sjFricMask)
, sj_kn_(0.0), sj_ks_(0.0), sj_fric_(0.0)
, sj_da_(0.0), sj_state_(0), sj_bns_(0.0)
, sj_bcoh_(0.0), sj_bfa_(0.0), dip_(0.0)
, sj_rmul_(1.0), sj_large_(false)
, sj_unorm_(0.0), sj_A_(0.0), sj_rad_(0.0)
, sj_gap_(0.0), sj_Un_(0.0), sj_Us_(0.0)
, sj_Fn_(0.0), sj_Fs_(0.0), isjFlip_(false)
, isjSliding_(false)
, effectiveTranslationalStiffness_(0.0)
, geomRecomp_(true)
#ifdef THREED
, dd_(0.0)
#endif
, energies_(0) {
// setFromParent(ContactModelMechanicalList::instance()->find(getName()));
}
ContactModelSmoothJoint::~ContactModelSmoothJoint() {
if (energies_)
delete energies_;
}
void ContactModelSmoothJoint::archive(ArchiveStream &stream) {
stream & sj_kn_;
stream & sj_ks_;
stream & sj_fric_;
stream & sj_da_;
stream & sj_state_;
stream & sj_bns_;
stream & sj_bcoh_;
stream & sj_bfa_;
stream & dip_;
stream & sj_rmul_;
stream & sj_large_;
stream & sj_unorm_;
stream & sj_A_;
stream & sj_rad_;
stream & sj_gap_;
stream & sj_Un_;
stream & sj_Us_;
stream & sj_Fn_;
stream & sj_Fs_;
stream & isjFlip_;
stream & isjSliding_;
#ifdef THREED
stream & dd_;
#endif
if (stream.getArchiveState()==ArchiveStream::Save) {
bool 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 (!energies_)
energies_ = NEWC(Energies());
stream & energies_->estrain_;
stream & energies_->eslip_;
}
}
stream & inheritanceField_;
stream & geomRecomp_;
stream & effectiveTranslationalStiffness_;
}
void ContactModelSmoothJoint::copy(const ContactModel *cm) {
ContactModelMechanical::copy(cm);
const ContactModelSmoothJoint *in = dynamic_cast<const ContactModelSmoothJoint*>(cm);
if (!in) throw std::runtime_error("Internal error: contact model dynamic cast failed.");
sj_kn(in->sj_kn());
sj_ks(in->sj_ks());
sj_fric(in->sj_fric());
sj_da(in->sj_da());
sj_state(in->sj_state());
sj_bns(in->sj_bns());
sj_bcoh(in->sj_bcoh());
sj_bfa(in->sj_bfa());
dip(in->dip());
sj_rmul(in->sj_rmul());
sj_large(in->sj_large());
#ifdef THREED
dd(in->dd());
#endif
sj_unorm(in->sj_unorm());
sj_A(in->sj_A());
sj_rad(in->sj_rad());
sj_gap(in->sj_gap());
sj_Un(in->sj_Un());
sj_Us(in->sj_Us());
sj_Fn(in->sj_Fn());
sj_Fs(in->sj_Fs());
isjFlip(in->isjFlip());
isjSliding(in->isjSliding());
if (in->hasEnergies()) {
if (!energies_)
energies_ = NEWC(Energies());
estrain(in->estrain());
eslip(in->eslip());
}
inheritanceField(in->inheritanceField());
effectiveTranslationalStiffness(in->effectiveTranslationalStiffness());
geomRecomp(in->geomRecomp());
}
QVariant ContactModelSmoothJoint::getProperty(uint i,const IContact *) const {
QVariant var;
switch (i) {
case kwKn: return sj_kn_;
case kwKs: return sj_ks_;
case kwFric: return sj_fric_;
case kwDA: return sj_da_/dDegrad; // Returned in degrees
case kwState: return sj_state_;
case kwTen: return sj_bns_;
case kwBCoh: return sj_bcoh_;
case kwBFA: return sj_bfa_/dDegrad; // Returned in degrees
case kwShear: return calcBSS();
case kwDip: return dip_/dDegrad; // Returned in degrees
#ifdef THREED
case kwDD: return dd_/dDegrad; // Returned in degrees
#endif
case kwRMul: return sj_rmul_;
case kwLarge: return sj_large_;
case kwFn: return sj_Fn_;
case kwFs: {
var.setValue(sj_Fs_);
return var;
}
case kwGap: return sj_gap_;
case kwNorm: {
var.setValue(sj_unorm_);
return var;
}
case kwArea: return sj_A_;
case kwRad: return sj_rad_;
case kwUn: return sj_Un_;
case kwUs: {
var.setValue(sj_Us_);
return var;
}
case kwSlip: return isjSliding_;
}
assert(0);
return QVariant();
}
bool ContactModelSmoothJoint::getPropertyGlobal(uint ) const {
return true;
}
bool ContactModelSmoothJoint::setProperty(uint i,const QVariant &v,IContact *c) {
switch (i) {
case kwKn: {
if (!v.canConvert<double>())
throw Exception("sj_kn must be a double.");
double val = v.toDouble();
if (val<0.0)
throw Exception("Negative sj_kn not allowed.");
sj_kn_ = val;
updateEffectiveTranslationalStiffness();
return true;
}
case kwKs: {
if (!v.canConvert<double>())
throw Exception("sj_ks must be a double.");
double val = v.toDouble();
if (val<0.0)
throw Exception("Negative sj_ks not allowed.");
sj_ks_ = val;
updateEffectiveTranslationalStiffness();
return true;
}
case kwFric: {
if (!v.canConvert<double>())
throw Exception("sj_fric must be a double.");
double val = v.toDouble();
if (val<0.0)
throw Exception("Negative friction not allowed.");
sj_fric_ = val;
return false;
}
case kwDA: {
if (!v.canConvert<double>())
throw Exception("sj_da must be a double.");
sj_da_ = v.toDouble()*dDegrad; // Given in degrees
return false;
}
case kwState: {
if (!v.canConvert<uint>())
throw Exception("sj_state must be must be an integer between 0 and 3.");
int val = v.toInt();
if (val<0 || val>3)
throw Exception("The bond state must be an integer between 0 and 3.");
sj_state_ = val;
return false;
}
case kwTen: {
if (!v.canConvert<double>())
throw Exception("sj_ten must be a double.");
double val = v.toDouble();
if (val<0.0)
throw Exception("Negative bond normal (tensile) strength not allowed.");
sj_bns_ = val;
return false;
}
case kwBCoh: {
if (!v.canConvert<double>())
throw Exception("sj_coh must be a double.");
double val = v.toDouble();
if (val<0.0)
throw Exception("Negative bond system cohesion not allowed.");
sj_bcoh_ = val;
return false;
}
case kwBFA: {
if (!v.canConvert<double>())
throw Exception("sj_bfa must be a double.");
sj_bfa_ = v.toDouble()*dDegrad; // Given in degrees
return false;
}
case kwDip: {
if (!v.canConvert<double>())
throw Exception("dip must be a double.");
dip_ = v.toDouble()*dDegrad; // Given in degrees
if (c)
updateAreaAndNormalContact(c);
else
geomRecomp_ = true;
return true;
}
case kwDD: {
#ifdef THREED
if (!v.canConvert<double>())
throw Exception("ddir must be a double.");
dd_ = v.toDouble()*dDegrad; // Given in degrees
if (c)
updateAreaAndNormalContact(c);
else
geomRecomp_ = true;
#endif
return true;
}
case kwRMul: {
if (!v.canConvert<double>())
throw Exception("sj_rmul must be a double.");
double val = v.toDouble();
if (val<0.0)
throw Exception("Negative radius multiplier not allowed.");
sj_rmul_ = val;
if (!geomRecomp_) geomRecomp_ = true;
return false;
}
case kwLarge: {
if (!v.canConvert<bool>())
throw Exception("Large-strain flag must be a boolean.");
sj_large_ = v.toBool();
return false;
}
case kwFn: {
if (!v.canConvert<double>())
throw Exception("sj_fn must be a double.");
sj_Fn_ = v.toDouble();
return false;
}
case kwFs: {
if (!v.canConvert<DVect>())
throw Exception("sj_fs must be a vector.");
sj_Fs_ = v.value<DVect>();
return false;
}
case kwGap: {
if (!v.canConvert<double>())
throw Exception("sj_gap must be a double.");
sj_gap_ = v.toDouble();
return false;
}
// Following are read-only !
case kwNorm:
case kwRad:
case kwShear:
case kwUn:
case kwUs:
case kwSlip:
return false;
}
assert(0);
return false;
}
bool ContactModelSmoothJoint::getPropertyReadOnly(uint i) const {
switch (i) {
case kwNorm:
case kwRad:
case kwUn:
case kwUs:
case kwSlip:
case kwShear:
case kwArea:
return true;
default:
break;
}
return false;
}
bool ContactModelSmoothJoint::supportsInheritance(uint i) const {
switch (i) {
case kwKn:
case kwKs:
case kwFric:
return true;
default:
break;
}
return false;
}
QString ContactModelSmoothJoint::getMethodArguments(uint i) const {
QString def = QString();
switch (i) {
case kwBond:
return "gap";
case kwUnbond:
return "gap";
}
return def;
}
bool ContactModelSmoothJoint::setMethod(uint i,const QVector<QVariant> &vl,IContact *con) {
IContactMechanical *c(convert_getcast<IContactMechanical>(con));
switch (i) {
case kwSetForce: {
DVect gf = c->getGlobalForce();
if (isjFlip_)
gf *= -1.0;
sj_Fn_ = gf | sj_unorm_;
return false;
}
case kwBond: {
if (sj_state_ == 3) return false;
double mingap = -1.0 * limits<double>::max();
double maxgap = 0;
if (vl.at(0).canConvert<Double>())
maxgap = vl.at(0).toDouble();
else if (vl.at(0).canConvert<DVect2>()) {
DVect2 value = vl.at(0).value<DVect2>();
mingap = value.minComp();
maxgap = value.maxComp();
} else if (!vl.at(0).isNull())
throw Exception("gap value %1 not recognized in method bond in contact model %2.",vl.at(0),getName());
if ( sj_gap_ >= mingap && sj_gap_ <= maxgap) {
sj_state_ = 3;
return true;
}
return false;
}
case kwUnbond: {
if (sj_state_ == 0) return false;
double mingap = -1.0 * limits<double>::max();
double maxgap = 0;
if (vl.at(0).canConvert<double>())
maxgap = vl.at(0).toDouble();
else if (vl.at(0).canConvert<DVect2>()) {
DVect2 value = vl.at(0).value<DVect2>();
mingap = value.minComp();
maxgap = value.maxComp();
}
else if (!vl.at(0).isNull())
throw Exception("gap value %1 not recognized in method unbond in contact model %2.",vl.at(0),getName());
if ( sj_gap_ >= mingap && sj_gap_ <= maxgap) {
sj_state_ = 0;
return true;
}
return false;
}
}
return false;
}
double ContactModelSmoothJoint::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 ContactModelSmoothJoint::getEnergyAccumulate(uint i) const {
bool ret(false);
if (!energies_) return ret;
switch (i) {
case kwEStrain: return false;
case kwESlip: return true;
}
assert(0);
return ret;
}
void ContactModelSmoothJoint::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 ContactModelSmoothJoint::validate(ContactModelMechanicalState *state,const double &) {
assert(state);
const IContactMechanical *c = state->getMechanicalContact();
assert(c);
if (state->trackEnergy_)
activateEnergy();
// The radius multiplier has been set previously so calculate the sj_A_
// Need to do this regardless of whether or not the radius multiplier has been updated as this is the
// first place with the contact state to get the ball radii!
updateAreaAndNormal(state);
if (inheritanceField_ & sjKnMask)
updateKn(c);
if (inheritanceField_ & sjKsMask)
updateKs(c);
if (inheritanceField_ & sjFricMask)
updateFric(c);
updateEffectiveTranslationalStiffness();
return checkActivity(state->gap_);
}
void ContactModelSmoothJoint::updateAreaAndNormal(ContactModelMechanicalState *state) {
updateAreaAndNormalContact(state->getContact());
}
void ContactModelSmoothJoint::updateAreaAndNormalContact(const IContact *c) {
assert(c);
if (geomRecomp_) geomRecomp_ = false;
// Use the maximum value of the curvature here - not the min!
auto *mc = convert_getcast<IContactMechanical>(c);
sj_rad_ = 1.0 / std::max(mc->getEnd1Curvature().y(),mc->getEnd2Curvature().y());
sj_rad_ = sj_rmul_ * sj_rad_;
#ifdef THREED
sj_A_ = dPi * sj_rad_ * sj_rad_;
sj_unorm_.rx() = sin(dip_) * sin(dd_);
sj_unorm_.ry() = sin(dip_) * cos(dd_);
sj_unorm_.rz() = cos(dip_);
#else
sj_A_ = 2.0 * sj_rad_; // Assumes thickness of 1 in 2D
sj_unorm_.rx() = sin(dip_);
sj_unorm_.ry() = cos(dip_);
#endif
DVect nc = toVect(c->getNormal());
// Set the flip boolean so that the ordering is correct from side1 to side2
isjFlip_ = ( ((nc | sj_unorm_) >= 0.0 ) ? false : true );
}
static const QString kn("sj_kn");
bool ContactModelSmoothJoint::updateKn(const IContactMechanical *con) {
assert(con);
QVariant v1 = con->getEnd1()->getProperty(kn);
QVariant v2 = con->getEnd2()->getProperty(kn);
if (!v1.isValid() || !v2.isValid())
return false;
double kn1 = v1.toDouble();
double kn2 = v2.toDouble();
double val = sj_kn_;
if (kn1 && kn2)
sj_kn_ = kn1*kn2/(kn1+kn2);
else if (kn1)
sj_kn_ = kn1;
else if (kn2)
sj_kn_ = kn2;
return ( (sj_kn_ != val) );
}
static const QString ks("sj_ks");
bool ContactModelSmoothJoint::updateKs(const IContactMechanical *con) {
assert(con);
QVariant v1 = con->getEnd1()->getProperty(ks);
QVariant v2 = con->getEnd2()->getProperty(ks);
if (!v1.isValid() || !v2.isValid())
return false;
double kn1 = v1.toDouble();
double kn2 = v2.toDouble();
double val = sj_ks_;
if (kn1 && kn2)
sj_ks_ = kn1*kn2/(kn1+kn2);
else if (kn1)
sj_ks_ = kn1;
else if (kn2)
sj_ks_ = kn2;
return ( (sj_ks_ != val) );
}
static const QString fric("sj_fric");
bool ContactModelSmoothJoint::updateFric(const IContactMechanical *con) {
assert(con);
QVariant v1 = con->getEnd1()->getProperty(fric);
QVariant v2 = con->getEnd2()->getProperty(fric);
if (!v1.isValid() || !v2.isValid())
return false;
double fric1 = std::max(0.0,v1.toDouble());
double fric2 = std::max(0.0,v2.toDouble());
double val = sj_fric_;
sj_fric_ = std::min(fric1,fric2);
return ( (sj_fric_ != val) );
}
bool ContactModelSmoothJoint::endPropertyUpdated(const QString &name,const IContactMechanical *c) {
assert(c);
QStringList availableProperties = getProperties().simplified().replace(" ","").split(",",QString::SkipEmptyParts);
QRegExp rx(name,Qt::CaseInsensitive);
int idx = availableProperties.indexOf(rx) + 1;
bool ret=false;
if (idx<=0)
return ret;
switch(idx) {
case kwKn: { //sj_kn_
if (inheritanceField_ & sjKnMask)
ret = updateKn(c);
break;
}
case kwKs: { //sj_ks_
if (inheritanceField_ & sjKsMask)
ret =updateKs(c);
break;
}
case kwFric: { //sj_fric_
if (inheritanceField_ & sjFricMask)
updateFric(c);
break;
}
}
if (ret)
updateEffectiveTranslationalStiffness();
return ret;
}
void ContactModelSmoothJoint::updateEffectiveTranslationalStiffness() {
effectiveTranslationalStiffness_ = DVect2(sj_kn_,sj_ks_)*sj_A_;
}
bool ContactModelSmoothJoint::forceDisplacementLaw(ContactModelMechanicalState *state,const double &) {
assert(state);
if (geomRecomp_)
updateAreaAndNormal(state);
// Skip out if this should not be active
if (sj_large_ && state->gap_ > 0.0 && sj_state_ != 3) {
sj_Fn_ = 0.0;
sj_Fs_ = DVect(0.0);
sj_gap_ = 0.0;
sj_Un_ = 0.0;
sj_Us_ = DVect(0.0);
return false;
}
// Get the translational increment in the global system
CAxes localSys = state->getMechanicalContact()->getContact()->getLocalSystem();
DVect tInc = localSys.toGlobal(state->relativeTranslationalIncrement_);
// Now have the translational increment and the normal in the global coordinate system
// Compute the normal/shear displacement increments along the sj
if (isjFlip_)
tInc *= -1.0;
double nInc = tInc | sj_unorm_;
DVect sInc = tInc - sj_unorm_ * nInc;
sj_Un_ -= nInc;
sj_Us_ += sInc;
double nElInc(0.0);
DVect sElInc(0.0);
double g0 = sj_gap_, g1 = sj_gap_ + nInc;
sj_gap_ = g1;
if (!state->canFail_ || sj_state_ == 3 ) { // Bonded
nElInc = nInc;
sElInc = sInc;
} else {
if ( g0 <= 0.0 ) {
if ( g1 <= 0.0 ) {
nElInc = nInc;
sElInc = sInc;
} else { // g1 > 0.0
double xi = -g0 / (g1 - g0);
nElInc = nInc * xi;
sElInc = sInc * xi;
}
} else { // g0 > 0.0
if ( g1 >= 0.0 ) {
nElInc = 0.0;
sElInc.fill(0.0);
} else { // g1 < 0.0
double xi = -g0 / (g1 - g0);
nElInc = nInc * (1.0 - xi);
sElInc = sInc * (1.0 - xi);
}
}
}
double del_Fn = -sj_kn_ * sj_A_ * nElInc ;
sj_Fn_ += del_Fn ;
int slideChange(-1);
DVect sj_Fs_old = sj_Fs_;
if ( state->canFail_ && sj_state_ < 3 ) { // Coulomb sliding with dilation
if ( sj_Fn_ <= 0.0 ) {
sj_Fn_ = 0.0;
sj_Fs_.fill(0.0);
} else {
DVect del_Fs = sElInc * (-sj_ks_ * sj_A_);
sj_Fs_ += del_Fs;
double max_Fs = sj_Fn_ * sj_fric_;
double magFs = sj_Fs_.mag();
if ( magFs > max_Fs ) { // sliding
if (!isjSliding_) {
isjSliding_ = true;
slideChange = 0;
}
if ( sj_ks_ > 0.0 ) // dilation
sj_Fn_ += ( (magFs - max_Fs) / sj_ks_ ) * sj_kn_ * tan(sj_da_);
double rat = max_Fs / magFs ;
sj_Fs_ *= rat ;
} else {
if (isjSliding_) {
isjSliding_ = false;
slideChange = 1;
}
}
}
} else { // bonded behavior
if ( state->canFail_ && sj_Fn_ <= -sj_bns_ * sj_A_) {
sj_state_ = 1;
if (cmEvents_[fBondBreak] >= 0) {
auto c = state->getContact();
std::vector<fish::Parameter> arg = { fish::Parameter(c->getIThing()),
fish::Parameter((qint64)sj_state_),
fish::Parameter(sj_bns_) };
IFishCallList *fi = const_cast<IFishCallList*>(state->getProgram()->findInterface<IFishCallList>());
fi->setCMFishCallArguments(c,arg,cmEvents_[fBondBreak]);
}
sj_Fn_ = 0.0;
sj_Fs_.fill(0.0);
} else {
DVect del_Fs = sElInc * (-sj_ks_ * sj_A_);
sj_Fs_ += del_Fs;
double magFs = sj_Fs_.mag();
double ss = calcBSS();
if ( state->canFail_ && magFs >= ss * sj_A_) { // break in shear
sj_state_ = 2;
if (cmEvents_[fBondBreak] >= 0) {
auto c = state->getContact();
std::vector<fish::Parameter> arg = { fish::Parameter(c->getIThing()),
fish::Parameter((qint64)sj_state_),
fish::Parameter(ss) };
IFishCallList *fi = const_cast<IFishCallList*>(state->getProgram()->findInterface<IFishCallList>());
fi->setCMFishCallArguments(c,arg,cmEvents_[fBondBreak]);
}
if ( sj_Fn_ < 0.0 ) {
sj_Fn_ = 0.0;
sj_Fs_.fill(0.0);
} else { // was in compression // was in tension
double max_Fs = sj_Fn_ * sj_fric_ ;
if ( magFs > max_Fs) { // sliding, but no dilation
if (!isjSliding_) {
isjSliding_ = true;
slideChange = 0;
}
double rat = max_Fs / magFs ;
sj_Fs_ *= rat ;
} else {
if (isjSliding_ == true) {
isjSliding_ = false;
slideChange = 1;
}
}
}
}
}
}
if (slideChange >= 0 && cmEvents_[fSlipChange] >= 0) {
auto c = state->getContact();
std::vector<fish::Parameter> arg = { fish::Parameter(c->getIThing()),
fish::Parameter((qint64)slideChange) };
IFishCallList *fi = const_cast<IFishCallList*>(state->getProgram()->findInterface<IFishCallList>());
fi->setCMFishCallArguments(c,arg,cmEvents_[fSlipChange]);
}
// Have updated the normal and shear forces so need to put them into the contact local
// coordinate system and update the forces
DVect Fj = sj_unorm_ * sj_Fn_ + sj_Fs_;
if (isjFlip_)
Fj *= -1.0;
// Return the correct activity status
bool isactive = true;
if (sj_large_ && state->gap_ > 0.0 && sj_state_ != 3) {
sj_Fn_ = 0.0;
sj_Fs_ = DVect(0.0);
sj_gap_ = 0.0;
sj_Un_ = 0.0;
sj_Us_ = DVect(0.0);
isactive = false;
}
// update energies
if (state->trackEnergy_) {
assert(energies_);
energies_->estrain_ = 0.0;
if (sj_kn_)
energies_->estrain_ = 0.5*sj_Fn_*sj_Fn_/sj_kn_;
if (sj_ks_) {
double smag2 = sj_Fs_.mag2();
energies_->estrain_ += 0.5*smag2 / sj_ks_;
if (isjSliding_) {
DVect avg_F_s = (sj_Fs_old + sj_Fs_)*0.5;
DVect u_s_el = (sj_Fs_ - sj_Fs_old) / sj_ks_;
energies_->eslip_ -= std::min(0.0,(avg_F_s | (sInc + u_s_el)));
}
}
}
return isactive ;
}
void ContactModelSmoothJoint::setForce(const DVect &v,IContact *c) {
// this is in the local coordinate system
CAxes localSys = c->getLocalSystem();
DVect globForce = localSys.toGlobal(v);
if (isjFlip_)
globForce *= -1.0;
sj_Fn_ = (sj_unorm_ | globForce);
sj_Fs_ = globForce - sj_unorm_ * sj_Fn_;
}
DVect ContactModelSmoothJoint::getForce(const IContactMechanical *c) const {
CAxes localSys = c->getContact()->getLocalSystem();
DVect Fj = sj_unorm_ * sj_Fn_ + sj_Fs_;
if (isjFlip_)
Fj *= -1.0;
DVect ret(localSys.toLocal(Fj));
return ret;
}
DAVect ContactModelSmoothJoint::getMomentOn1(const IContactMechanical *c) const {
DVect force = getForce(c);
DAVect ret(0.0);
c->updateResultingTorqueOn1Local(force,&ret);
return ret;
}
DAVect ContactModelSmoothJoint::getMomentOn2(const IContactMechanical *c) const {
DVect force = getForce(c);
DAVect ret(0.0);
c->updateResultingTorqueOn2Local(force,&ret);
return ret;
}
double ContactModelSmoothJoint::calcBSS() const {
if (sj_A_ > 0) {
double dSigma = sj_Fn_ / sj_A_;
return dSigma >= -sj_bns_ ? sj_bcoh_ + (tan(sj_bfa_) * dSigma)
: sj_bcoh_ + (tan(sj_bfa_) * (-sj_bns_));
}
else
return 0.0;
}
} // namespace itascaxd
// EoF
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