int Generate_Model_ANCFCable2D_contact(MBS* mbs)
{
ElementDataContainer* edc = mbs->GetModelDataContainer();
int nel = edc->TreeGetInt("Geometry.n_fibers");
double sx = edc->TreeGetDouble("Geometry.length");
double sy = edc->TreeGetDouble("Geometry.width");
int nx = edc->TreeGetInt("Geometry.nx");
int ny = edc->TreeGetInt("Geometry.ny");
double rho = edc->TreeGetDouble("Geometry.rho");
double Em = edc->TreeGetDouble("Geometry.Em");
double nu = edc->TreeGetDouble("Geometry.nu");
double box_x = edc->TreeGetDouble("Geometry.box_x");
double box_y = edc->TreeGetDouble("Geometry.box_y");
int nbox_x = edc->TreeGetInt("Geometry.nres_x");
int nbox_y = edc->TreeGetInt("Geometry.nres_y");
Vector3D size(sx,sy,1.0);
double cdim = sy/2;
double wi = 1; //width of GeomLine2D elements (in pts/pixel)
//===============================2D fibers=========================================
ANCFCable2D cable(mbs);
Vector xc1(4);
Vector xc2(4);
double phi = -MY_PI/4.;
xc1(1)=0.5*sx*cos(phi+MY_PI);
xc1(2)=0.5*sx*sin(phi+MY_PI);
xc1(3)=cos(phi);
xc1(4)=sin(phi);
xc2(1)=xc1(1)+sx*cos(phi);
xc2(2)=xc1(2)+sx*sin(phi);
xc2(3)=cos(phi);
xc2(4)=sin(phi);
//Material m1(mbs,rho,Em,nu);
//int mat1 = mbs->AddMaterial(&m1);
cable.SetANCFCable2D(xc1, xc2, rho, Em, size, Vector3D(0.,0.7,0.));
//cable.SetANCFCable2D(xc1, xc2, vcenter, vcenter, n1, n2, rho, Em, size, Vector3D(0.,0.7,0.));
int nr = mbs->AddElement(&cable);
MBSLoad grav;
grav.SetBodyLoad(-9.81*rho,2);
mbs->GetElement(nr).AddLoad(grav);
//MBSSensor force_x(mbs,TMBSSensor(TSElement+TSDOF),idx1,1); //measure force via Lagrange multiplier
//force_x.SetSensorName(mystr("Node_")+mystr(i)+mystr("_force_x"));
//mbs->AddSensor(&force_x);
TArray<Vector2D> points;
double dx = sx/nx;
double dy = sy/ny;
for(int i=0; i<nx; ++i)
points.Add(Vector2D(-0.5*sx+i*dx,-0.5*sy));
for(int i=0; i<ny; ++i)
points.Add(Vector2D(0.5*sx,-0.5*sy+i*dy));
for(int i=0; i<nx; ++i)
points.Add(Vector2D(0.5*sx-i*dx,0.5*sy));
for(int i=0; i<=ny; ++i)
points.Add(Vector2D(-0.5*sx,0.5*sy-i*dy));
//mbs->GetElement(nr).SetAltShape(1);
////sensors for nodal positions and velocities
//MBSSensor s1(mbs,TMBSSensor(TSElement+TSplanar+TSPos+TSX),nr,Vector3D(-0.5*size.X(),0.,0.));
//s1.SetSensorName(mystr("Node_")+mystr(i)+mystr("_x"));
//mbs->AddSensor(&s1);
//sensors
//field variables not available?
//{
// FieldVariableElementSensor s1(mbs);
// s1.SetFVESPos2D(nr,FieldVariableDescriptor(FieldVariableDescriptor::FieldVariableType::FVT_position,FieldVariableDescriptor::FieldVariableComponentIndex::FVCI_x),Vector2D(0.));
// s1.SetSensorName(mystr("cable")+mystr("_x"));
// mbs->AddSensor(&s1);
// FieldVariableElementSensor s2(mbs);
// s2.SetFVESPos2D(nr,FieldVariableDescriptor(FieldVariableDescriptor::FieldVariableType::FVT_position,FieldVariableDescriptor::FieldVariableComponentIndex::FVCI_y),Vector2D(0.));
// s2.SetSensorName(mystr("cable")+mystr("_y"));
// mbs->AddSensor(&s2);
// FieldVariableElementSensor s3(mbs);
// s3.SetFVESPos2D(nr,FieldVariableDescriptor(FieldVariableDescriptor::FieldVariableType::FVT_velocity,FieldVariableDescriptor::FieldVariableComponentIndex::FVCI_x),Vector2D(0.));
// s3.SetSensorName(mystr("cable")+mystr("_vx"));
// mbs->AddSensor(&s3);
// FieldVariableElementSensor s4(mbs);
// s4.SetFVESPos2D(nr,FieldVariableDescriptor(FieldVariableDescriptor::FieldVariableType::FVT_velocity,FieldVariableDescriptor::FieldVariableComponentIndex::FVCI_y),Vector2D(0.));
// s4.SetSensorName(mystr("cable")+mystr("_vy"));
// mbs->AddSensor(&s4);
//}
//contact
Vector3D contactcol(0.5,0,0.5);
int slaveNODEmode = 0; //if NODEmode = 1, then use locnodenumbers, if NODEmode==0 then use loccoords
double bordersize = 0.25*sy; //additional search radius for master and slave segments/nodes
GeneralContact2D gc(mbs, slaveNODEmode, bordersize, Vector3D(0.0005,0,0), contactcol);
gc.SetContactMode(0); //0 for Hertzian contact with restitution coefficient
gc.SetIsLagrange(0);
double friccoeff = 0.2;
gc.SetFriction(1, edc->TreeGetDouble("Geometry.friction_coeff"));
gc.SetContactParams(edc->TreeGetDouble("Geometry.restitution_coeff"),1); //coefficient of restitution, Hertzian contact parameter
gc.SetContactMaxDist(0.5*sy); //max penetration; if exceeded, it is treated as if there where no contact
gc.SetSearchTreeDim(20,20);
double cstiff = edc->TreeGetDouble("Geometry.contact_stiffness");
int bodyind = 1;
for(int i=1; i<points.Length(); ++i)
{
gc.AddSlaveNode(nr, points(i), cstiff, bodyind);
}
if(edc->TreeGetInt("Geometry.mutual_contact"))
{
for(int i=1; i<points.Length(); ++i)
{
gc.AddMasterSegment(nr,points(i),points(i+1),bodyind); //be careful with orientation of master segments
}
}
//===============================rigid body====================================
{
Vector x0i(6);
x0i(1)=0.;
x0i(2)=0.25*box_y;
x0i(3)=0.;
x0i(4)=0.;
x0i(5)=0.;
x0i(6)=0.;
double r0=0.3*sx;
Vector3D sizei(r0,r0,1.);
Vector3D coli(1.,0.,0.);
Rigid2D testbody(mbs,x0i,rho,sizei,coli);
int nr = mbs->AddElement(&testbody);
//MBSLoad load;
//load.SetForceVector2D(Vector2D(1e-4,2e-4),Vector2D(0.));
mbs->GetElement(nr).AddLoad(grav);
TArray<Vector2D> points;
int ni = 32;
for(int j=0; j<=ni; ++j)
points.Add(Vector2D( r0*cos(2*MY_PI/ni*j), r0*sin(2*MY_PI/ni*j) ));
//for better visualization of rotation
GeomLine2D c1(mbs,nr,Vector2D(0.,-0.5*r0),Vector2D(0.,0.5*r0),Vector3D(1.,0.,0.));
GeomLine2D c2(mbs,nr,Vector2D(-0.5*r0,0.),Vector2D(0.5*r0,0.),Vector3D(1.,0.,0.));
c1.SetDrawParam(Vector3D(2*wi, 10., 0.));
c2.SetDrawParam(Vector3D(2*wi, 10., 0.));
mbs->GetElement(nr).Add(c1);
mbs->GetElement(nr).Add(c2);
mbs->GetElement(nr).SetAltShape(1);
//sensors
//{
// FieldVariableElementSensor s1(mbs);
// s1.SetFVESPos2D(nr,FieldVariableDescriptor(FieldVariableDescriptor::FieldVariableType::FVT_position,FieldVariableDescriptor::FieldVariableComponentIndex::FVCI_x),Vector2D(0.));
// s1.SetSensorName(mystr("rigid")+mystr("_x"));
// mbs->AddSensor(&s1);
// FieldVariableElementSensor s2(mbs);
// s2.SetFVESPos2D(nr,FieldVariableDescriptor(FieldVariableDescriptor::FieldVariableType::FVT_position,FieldVariableDescriptor::FieldVariableComponentIndex::FVCI_y),Vector2D(0.));
// s2.SetSensorName(mystr("rigid")+mystr("_y"));
// mbs->AddSensor(&s2);
// FieldVariableElementSensor s3(mbs);
// s3.SetFVESPos2D(nr,FieldVariableDescriptor(FieldVariableDescriptor::FieldVariableType::FVT_velocity,FieldVariableDescriptor::FieldVariableComponentIndex::FVCI_x),Vector2D(0.));
// s3.SetSensorName(mystr("rigid")+mystr("_vx"));
// mbs->AddSensor(&s3);
// FieldVariableElementSensor s4(mbs);
// s4.SetFVESPos2D(nr,FieldVariableDescriptor(FieldVariableDescriptor::FieldVariableType::FVT_velocity,FieldVariableDescriptor::FieldVariableComponentIndex::FVCI_y),Vector2D(0.));
// s4.SetSensorName(mystr("rigid")+mystr("_vy"));
// mbs->AddSensor(&s4);
//}
////lock rotation
//if(edc->TreeGetInt("Geometry.lock_rigid_body_rotation"))
//{
// CoordConstraint cc1(mbs, nr, 3, cdim);
// mbs->AddElement(&cc1);
//}
//contact
bodyind = 2;
for(int i=1; i<=points.Length(); ++i)
{
gc.AddSlaveNode(nr, points(i), cstiff, bodyind);
}
if(edc->TreeGetInt("Geometry.mutual_contact"))
{
for(int i=1; i<points.Length(); ++i)
{
gc.AddMasterSegment(nr,points(i),points(i+1),bodyind); //be careful with orientation of master segments
GeomLine2D c1(mbs,nr,points(i),points(i+1),Vector3D(1.,0.,0.));
c1.SetDrawParam(Vector3D(2*wi, 10., 0.));
mbs->GetElement(nr).Add(c1);
}
}
}
//===============================frame=========================================
points.Flush();
dx = box_x/nbox_x;
dy = box_y/nbox_y;
for(int i=0; i<nbox_x; ++i)
points.Add(Vector2D(-0.5*box_x+i*dx,-0.5*box_y));
for(int i=0; i<nbox_y; ++i)
points.Add(Vector2D(0.5*box_x,-0.5*box_y+i*dy));
for(int i=0; i<nbox_x; ++i)
points.Add(Vector2D(0.5*box_x-i*dx,0.5*box_y));
for(int i=0; i<=nbox_y; ++i)
points.Add(Vector2D(-0.5*box_x,0.5*box_y-i*dy));
//contact
bodyind = 0; //must be 0 for mbs
for(int i=1; i<points.Length(); ++i)
{
gc.AddMasterSegment(0,points(i+1),points(i), bodyind); //be careful with orientation of master segments
GeomLine2D c1(mbs,0,points(i+1),points(i),Vector3D(0.,0.,0.));
c1.SetDrawParam(Vector3D(2*wi, 10., 0.));
mbs->Add(c1);
}
//finish contact
gc.FinishContactDefinition();
mbs->AddElement(&gc);
mbs->Assemble();
return 1;
};
void Sensitivity::Init()
{
mbs->OpenFiles(0); //open files already here, do not append
ElementDataContainer* edc = mbs->GetMBS_EDC_Options();
mystr method = edc->TreeGetString("SolverOptions.Sensitivity.method");
// choose type of analysis
if(method.Compare(mystr("Forward")))
{
type_diff = 1; // 1 ... df/dx =~ (f(x+dx)-f(x))/dx forward differentiation
}
else if(method.Compare(mystr("Backward")))
{
type_diff = -1; // -1 ... df/dx =~ (f(x)-f(x-dx))/dx backward differentiation
}
else
{
type_diff = 0; // 0 ... df/dx =~ (f(x+dx/2)-f(x-dx/2))/dx central differentiation
}
// get parameter names
if(edc->TreeGetInt("SolverOptions.Sensitivity.use_optimization_parameters"))
{
number_of_params = edc->TreeGetInt("SolverOptions.Optimization.Parameters.number_of_params");
for (int col=1; col <= number_of_params; col++)
{
mystr str = edc->TreeGetString(mystr("SolverOptions.Optimization.Parameters.param_name")+mystr(col));
param_names(col) = new mystr(str);
}
}
else
{
number_of_params = edc->TreeGetInt("SolverOptions.Sensitivity.Parameters.number_of_params");
for (int col=1; col <= number_of_params; col++)
{
mystr str = edc->TreeGetString(mystr("SolverOptions.Sensitivity.Parameters.param_name")+mystr(col));
param_names(col) = new mystr(str);
}
}
abs_diff_val = edc->TreeGetDouble("SolverOptions.Sensitivity.num_diff_parameter_absolute");
rel_diff_val = edc->TreeGetDouble("SolverOptions.Sensitivity.num_diff_parameter_relative");
NCompSensors = 0; // sensor with computation value (case use_final_sensor_values == 0)
for(int i = 1; i<=mbs->NSensors();i++)
{
mystr str = "";
if(mbs->GetMBS_EDC_Options()->TreeGetInt("SolverOptions.Sensitivity.use_final_sensor_values",0))
{
str = mbs->GetSensor(i).GetSensorName();
sensor_names(i) = new mystr(str); // store names for header
}
else
{
if(mbs->GetSensor(i).HasSensorProcessingEvaluationData())
{
str = mbs->GetSensor(i).GetSensorName();
NCompSensors++;
sensor_names(NCompSensors) = new mystr(str); // store names for header
}
}
}
mbs->SolParFile() << GetHeaderString(); // write header into output file (use sensor_names and parameter_names)
}