Real MultiDContactConstraint::computeQpJacobian(Moose::ConstraintJacobianType type) { PenetrationInfo * pinfo = _penetration_locator._penetration_info[_current_node->id()]; double slave_jac = 0; switch (type) { case Moose::SlaveSlave: switch (_model) { case CM_FRICTIONLESS: slave_jac = pinfo->_normal(_component) * pinfo->_normal(_component) * ( _penalty*_phi_slave[_j][_qp] - (*_jacobian)(_current_node->dof_number(0, _var.number(), 0), _connected_dof_indices[_j]) ); break; case CM_GLUED: /* resid = pen_force(_component) - res_vec(_component) ; */ break; default: mooseError("Invalid or unavailable contact model"); break; } return _test_slave[_i][_qp] * slave_jac; case Moose::SlaveMaster: switch (_model) { case CM_FRICTIONLESS: slave_jac = pinfo->_normal(_component) * pinfo->_normal(_component) * ( -_penalty*_phi_master[_j][_qp] ); break; case CM_GLUED: /* resid = pen_force(_component) - res_vec(_component) ; */ break; default: mooseError("Invalid or unavailable contact model"); break; } return _test_slave[_i][_qp] * slave_jac; case Moose::MasterSlave: slave_jac = (*_jacobian)(_current_node->dof_number(0, _var.number(), 0), _connected_dof_indices[_j]); return slave_jac*_test_master[_i][_qp]; case Moose::MasterMaster: return 0; } return 0; }
Real SlaveConstraint::computeQpResidual() { PenetrationInfo * pinfo = _point_to_info[_current_point]; const Node * node = pinfo->_node; Real resid = pinfo->_contact_force(_component); const Real area = nodalArea(*pinfo); if (_formulation == CF_DEFAULT) { RealVectorValue distance_vec(_mesh.node(node->id()) - pinfo->_closest_point); RealVectorValue pen_force(_penalty * distance_vec); if (_normalize_penalty) pen_force *= area; if (_model == CM_FRICTIONLESS) resid += pinfo->_normal(_component) * pinfo->_normal * pen_force; else if (_model == CM_GLUED || _model == CM_COULOMB) resid += pen_force(_component); } return _test[_i][_qp] * resid; }
Real MechanicalContactConstraint::computeQpResidual(Moose::ConstraintType type) { PenetrationInfo * pinfo = _penetration_locator._penetration_info[_current_node->id()]; computeContactForce(pinfo); Real resid = pinfo->_contact_force(_component); switch(type) { case Moose::Slave: if (_formulation == CF_DEFAULT) { //Real distance = (*_current_node)(_component) - pinfo->_closest_point(_component); //Real pen_force = _penalty * distance; RealVectorValue distance_vec(*_current_node - pinfo->_closest_point); RealVectorValue pen_force(_penalty * distance_vec); if (_model == CM_FRICTIONLESS || _model == CM_EXPERIMENTAL) resid += pinfo->_normal(_component) * pinfo->_normal * pen_force; else if (_model == CM_GLUED || _model == CM_TIED || _model == CM_COULOMB) resid += pen_force(_component); } return _test_slave[_i][_qp] * resid; case Moose::Master: return _test_master[_i][_qp] * -resid; } return 0; }
Real ContactMaster::computeQpJacobian() { PenetrationInfo * pinfo = _point_to_info[_current_point]; Real penalty = _penalty; if (_normalize_penalty) penalty *= nodalArea(*pinfo); switch (_model) { case CM_FRICTIONLESS: switch (_formulation) { case CF_DEFAULT: return 0; break; case CF_PENALTY: case CF_AUGMENTED_LAGRANGE: return _test[_i][_qp] * penalty * _phi[_j][_qp] * pinfo->_normal(_component) * pinfo->_normal(_component); break; default: mooseError("Invalid contact formulation"); break; } break; case CM_GLUED: case CM_COULOMB: switch (_formulation) { case CF_DEFAULT: return 0; break; case CF_PENALTY: case CF_AUGMENTED_LAGRANGE: return _test[_i][_qp] * penalty * _phi[_j][_qp]; break; default: mooseError("Invalid contact formulation"); break; } break; default: mooseError("Invalid or unavailable contact model"); break; } return 0; /* if (_i != _j) return 0; Node * node = pinfo->_node; RealVectorValue jac_vec; // Build up jac vector for (unsigned int i=0; i<_dim; i++) { long int dof_number = node->dof_number(0, _vars(i), 0); jac_vec(i) = _jacobian_copy(dof_number, dof_number); } Real jac_mag = pinfo->_normal * jac_vec; return _test[_i][_qp]*pinfo->_normal(_component)*jac_mag; */ }
Real MechanicalContactConstraint::computeQpJacobian(Moose::ConstraintJacobianType type) { PenetrationInfo * pinfo = _penetration_locator._penetration_info[_current_node->id()]; switch(type) { case Moose::SlaveSlave: switch(_model) { case CM_FRICTIONLESS: case CM_EXPERIMENTAL: switch (_formulation) { case CF_DEFAULT: { double curr_jac = (*_jacobian)(_current_node->dof_number(0, _vars(_component), 0), _connected_dof_indices[_j]); //TODO: Need off-diagonal term/s return (-curr_jac + _phi_slave[_j][_qp] * _penalty * _test_slave[_i][_qp]) * pinfo->_normal(_component) * pinfo->_normal(_component); } case CF_PENALTY: case CF_AUGMENTED_LAGRANGE: //TODO: Need off-diagonal terms return _phi_slave[_j][_qp] * _penalty * _test_slave[_i][_qp] * pinfo->_normal(_component) * pinfo->_normal(_component); default: mooseError("Invalid contact formulation"); } case CM_COULOMB: case CM_GLUED: case CM_TIED: switch (_formulation) { case CF_DEFAULT: { double curr_jac = (*_jacobian)(_current_node->dof_number(0, _vars(_component), 0), _connected_dof_indices[_j]); return -curr_jac + _phi_slave[_j][_qp] * _penalty * _test_slave[_i][_qp]; } case CF_PENALTY: case CF_AUGMENTED_LAGRANGE: return _phi_slave[_j][_qp] * _penalty * _test_slave[_i][_qp]; default: mooseError("Invalid contact formulation"); } default: mooseError("Invalid or unavailable contact model"); } case Moose::SlaveMaster: switch(_model) { case CM_FRICTIONLESS: case CM_EXPERIMENTAL: switch (_formulation) { case CF_DEFAULT: { Node * curr_master_node = _current_master->get_node(_j); double curr_jac = (*_jacobian)(_current_node->dof_number(0, _vars(_component), 0), curr_master_node->dof_number(0, _vars(_component), 0)); //TODO: Need off-diagonal terms return (-curr_jac - _phi_master[_j][_qp] * _penalty * _test_slave[_i][_qp]) * pinfo->_normal(_component) * pinfo->_normal(_component); } case CF_PENALTY: case CF_AUGMENTED_LAGRANGE: //TODO: Need off-diagonal terms return -_phi_master[_j][_qp] * _penalty * _test_slave[_i][_qp] * pinfo->_normal(_component) * pinfo->_normal(_component); default: mooseError("Invalid contact formulation"); } case CM_COULOMB: case CM_GLUED: case CM_TIED: switch (_formulation) { case CF_DEFAULT: { Node * curr_master_node = _current_master->get_node(_j); double curr_jac = (*_jacobian)( _current_node->dof_number(0, _vars(_component), 0), curr_master_node->dof_number(0, _vars(_component), 0)); return -curr_jac - _phi_master[_j][_qp] * _penalty * _test_slave[_i][_qp]; } case CF_PENALTY: case CF_AUGMENTED_LAGRANGE: return -_phi_master[_j][_qp] * _penalty * _test_slave[_i][_qp]; default: mooseError("Invalid contact formulation"); } default: mooseError("Invalid or unavailable contact model"); } case Moose::MasterSlave: switch(_model) { case CM_FRICTIONLESS: case CM_EXPERIMENTAL: switch (_formulation) { case CF_DEFAULT: { //TODO: Need off-diagonal terms double slave_jac = (*_jacobian)(_current_node->dof_number(0, _vars(_component), 0), _connected_dof_indices[_j]); //TODO: To get off-diagonal terms correct using an approach like this, we would need to assemble in the rows for //all displacement components times their components of the normal vector. return slave_jac * _test_master[_i][_qp] * pinfo->_normal(_component) * pinfo->_normal(_component); } case CF_PENALTY: case CF_AUGMENTED_LAGRANGE: //TODO: Need off-diagonal terms return -_test_master[_i][_qp] * _penalty * _phi_slave[_j][_qp] * pinfo->_normal(_component) * pinfo->_normal(_component); default: mooseError("Invalid contact formulation"); } case CM_COULOMB: case CM_GLUED: case CM_TIED: switch (_formulation) { case CF_DEFAULT: { double slave_jac = (*_jacobian)(_current_node->dof_number(0, _vars(_component), 0), _connected_dof_indices[_j]); return slave_jac * _test_master[_i][_qp]; } case CF_PENALTY: case CF_AUGMENTED_LAGRANGE: return -_test_master[_i][_qp] * _penalty * _phi_slave[_j][_qp]; default: mooseError("Invalid contact formulation"); } default: mooseError("Invalid or unavailable contact model"); } case Moose::MasterMaster: switch(_model) { case CM_FRICTIONLESS: case CM_EXPERIMENTAL: switch (_formulation) { case CF_DEFAULT: return 0; case CF_PENALTY: case CF_AUGMENTED_LAGRANGE: //TODO: Need off-diagonal terms return _test_master[_i][_qp] * _penalty * _phi_master[_j][_qp] * pinfo->_normal(_component) * pinfo->_normal(_component); default: mooseError("Invalid contact formulation"); } case CM_COULOMB: case CM_GLUED: case CM_TIED: switch (_formulation) { case CF_DEFAULT: return 0; case CF_PENALTY: case CF_AUGMENTED_LAGRANGE: return _test_master[_i][_qp] * _penalty * _phi_master[_j][_qp]; default: mooseError("Invalid contact formulation"); } default: mooseError("Invalid or unavailable contact model"); } } return 0; }
Real PenetrationAux::computeValue() { const Node * current_node = NULL; if (_nodal) current_node = _current_node; else current_node = _mesh.getQuadratureNode(_current_elem, _current_side, _qp); PenetrationInfo * pinfo = _penetration_locator._penetration_info[current_node->id()]; Real retVal(NotPenetrated); if (pinfo) switch (_quantity) { case PA_DISTANCE: retVal = pinfo->_distance; break; case PA_TANG_DISTANCE: retVal = pinfo->_tangential_distance; break; case PA_NORMAL_X: retVal = pinfo->_normal(0); break; case PA_NORMAL_Y: retVal = pinfo->_normal(1); break; case PA_NORMAL_Z: retVal = pinfo->_normal(2); break; case PA_CLOSEST_POINT_X: retVal = pinfo->_closest_point(0); break; case PA_CLOSEST_POINT_Y: retVal = pinfo->_closest_point(1); break; case PA_CLOSEST_POINT_Z: retVal = pinfo->_closest_point(2); break; case PA_ELEM_ID: retVal = static_cast<Real>(pinfo->_elem->id() + 1); break; case PA_SIDE: retVal = static_cast<Real>(pinfo->_side_num); break; case PA_INCREMENTAL_SLIP_MAG: retVal = pinfo->isCaptured() ? pinfo->_incremental_slip.norm() : 0; break; case PA_INCREMENTAL_SLIP_X: retVal = pinfo->isCaptured() ? pinfo->_incremental_slip(0) : 0; break; case PA_INCREMENTAL_SLIP_Y: retVal = pinfo->isCaptured() ? pinfo->_incremental_slip(1) : 0; break; case PA_INCREMENTAL_SLIP_Z: retVal = pinfo->isCaptured() ? pinfo->_incremental_slip(2) : 0; break; case PA_ACCUMULATED_SLIP: retVal = pinfo->_accumulated_slip; break; case PA_FORCE_X: retVal = pinfo->_contact_force(0); break; case PA_FORCE_Y: retVal = pinfo->_contact_force(1); break; case PA_FORCE_Z: retVal = pinfo->_contact_force(2); break; case PA_NORMAL_FORCE_MAG: retVal = -pinfo->_contact_force * pinfo->_normal; break; case PA_NORMAL_FORCE_X: retVal = (pinfo->_contact_force * pinfo->_normal) * pinfo->_normal(0); break; case PA_NORMAL_FORCE_Y: retVal = (pinfo->_contact_force * pinfo->_normal) * pinfo->_normal(1); break; case PA_NORMAL_FORCE_Z: retVal = (pinfo->_contact_force * pinfo->_normal) * pinfo->_normal(2); break; case PA_TANGENTIAL_FORCE_MAG: { RealVectorValue contact_force_normal((pinfo->_contact_force * pinfo->_normal) * pinfo->_normal); RealVectorValue contact_force_tangential(pinfo->_contact_force - contact_force_normal); retVal = contact_force_tangential.norm(); break; } case PA_TANGENTIAL_FORCE_X: retVal = pinfo->_contact_force(0) - (pinfo->_contact_force * pinfo->_normal) * pinfo->_normal(0); break; case PA_TANGENTIAL_FORCE_Y: retVal = pinfo->_contact_force(1) - (pinfo->_contact_force * pinfo->_normal) * pinfo->_normal(1); break; case PA_TANGENTIAL_FORCE_Z: retVal = pinfo->_contact_force(2) - (pinfo->_contact_force * pinfo->_normal) * pinfo->_normal(2); break; case PA_FRICTIONAL_ENERGY: retVal = pinfo->_frictional_energy; break; case PA_LAGRANGE_MULTIPLIER: retVal = pinfo->_lagrange_multiplier; break; case PA_MECH_STATUS: retVal = pinfo->_mech_status; break; default: mooseError("Unknown PA_ENUM"); } // switch return retVal; }
Real MechanicalContactConstraint::computeQpOffDiagJacobian(Moose::ConstraintJacobianType type, unsigned int jvar) { PenetrationInfo * pinfo = _penetration_locator._penetration_info[_current_node->id()]; const Real penalty = getPenalty(*pinfo); unsigned int coupled_component; double normal_component_in_coupled_var_dir = 1.0; if (getCoupledVarComponent(jvar,coupled_component)) normal_component_in_coupled_var_dir = pinfo->_normal(coupled_component); switch (type) { case Moose::SlaveSlave: switch (_model) { case CM_FRICTIONLESS: switch (_formulation) { case CF_KINEMATIC: { RealVectorValue jac_vec; for (unsigned int i=0; i<_mesh_dimension; ++i) { dof_id_type dof_number = _current_node->dof_number(0, _vars(i), 0); jac_vec(i) = (*_jacobian)(dof_number, _connected_dof_indices[_j]); } return -pinfo->_normal(_component) * (pinfo->_normal*jac_vec) + (_phi_slave[_j][_qp] * penalty * _test_slave[_i][_qp]) * pinfo->_normal(_component) * normal_component_in_coupled_var_dir; } case CF_PENALTY: case CF_AUGMENTED_LAGRANGE: return _phi_slave[_j][_qp] * penalty * _test_slave[_i][_qp] * pinfo->_normal(_component) * normal_component_in_coupled_var_dir; default: mooseError("Invalid contact formulation"); } case CM_COULOMB: case CM_GLUED: { double curr_jac = (*_jacobian)(_current_node->dof_number(0, _vars(_component), 0), _connected_dof_indices[_j]); return -curr_jac; } default: mooseError("Invalid or unavailable contact model"); } case Moose::SlaveMaster: switch (_model) { case CM_FRICTIONLESS: switch (_formulation) { case CF_KINEMATIC: { Node * curr_master_node = _current_master->get_node(_j); RealVectorValue jac_vec; for (unsigned int i=0; i<_mesh_dimension; ++i) { dof_id_type dof_number = _current_node->dof_number(0, _vars(i), 0); jac_vec(i) = (*_jacobian)(dof_number, curr_master_node->dof_number(0, _vars(_component), 0)); } return -pinfo->_normal(_component)*(pinfo->_normal*jac_vec) - (_phi_master[_j][_qp] * penalty * _test_slave[_i][_qp]) * pinfo->_normal(_component) * normal_component_in_coupled_var_dir; } case CF_PENALTY: case CF_AUGMENTED_LAGRANGE: return -_phi_master[_j][_qp] * penalty * _test_slave[_i][_qp] * pinfo->_normal(_component) * normal_component_in_coupled_var_dir; default: mooseError("Invalid contact formulation"); } case CM_COULOMB: case CM_GLUED: return 0; default: mooseError("Invalid or unavailable contact model"); } case Moose::MasterSlave: switch (_model) { case CM_FRICTIONLESS: switch (_formulation) { case CF_KINEMATIC: { RealVectorValue jac_vec; for (unsigned int i=0; i<_mesh_dimension; ++i) { dof_id_type dof_number = _current_node->dof_number(0, _vars(i), 0); jac_vec(i) = (*_jacobian)(dof_number, _connected_dof_indices[_j]); } return pinfo->_normal(_component)*(pinfo->_normal*jac_vec) * _test_master[_i][_qp]; } case CF_PENALTY: case CF_AUGMENTED_LAGRANGE: return -_test_master[_i][_qp] * penalty * _phi_slave[_j][_qp] * pinfo->_normal(_component) * normal_component_in_coupled_var_dir; default: mooseError("Invalid contact formulation"); } case CM_COULOMB: case CM_GLUED: switch (_formulation) { case CF_KINEMATIC: { double slave_jac = (*_jacobian)(_current_node->dof_number(0, _vars(_component), 0), _connected_dof_indices[_j]); return slave_jac * _test_master[_i][_qp]; } case CF_PENALTY: case CF_AUGMENTED_LAGRANGE: return 0; default: mooseError("Invalid contact formulation"); } default: mooseError("Invalid or unavailable contact model"); } case Moose::MasterMaster: switch (_model) { case CM_FRICTIONLESS: switch (_formulation) { case CF_KINEMATIC: return 0; case CF_PENALTY: case CF_AUGMENTED_LAGRANGE: return _test_master[_i][_qp] * penalty * _phi_master[_j][_qp] * pinfo->_normal(_component) * normal_component_in_coupled_var_dir; default: mooseError("Invalid contact formulation"); } case CM_COULOMB: case CM_GLUED: return 0; default: mooseError("Invalid or unavailable contact model"); } } return 0; }
Real MultiDContactConstraint::computeQpResidual(Moose::ConstraintType type) { PenetrationInfo * pinfo = _penetration_locator._penetration_info[_current_node->id()]; const Node * node = pinfo->_node; RealVectorValue res_vec; // Build up residual vector for (unsigned int i=0; i<_mesh_dimension; ++i) { dof_id_type dof_number = node->dof_number(0, _vars(i), 0); res_vec(i) = _residual_copy(dof_number); } const RealVectorValue distance_vec(_mesh.node(node->id()) - pinfo->_closest_point); const RealVectorValue pen_force(_penalty * distance_vec); Real resid = 0; switch (type) { case Moose::Slave: switch (_model) { case CM_FRICTIONLESS: resid = pinfo->_normal(_component) * (pinfo->_normal * ( pen_force - res_vec )); break; case CM_GLUED: resid = pen_force(_component) - res_vec(_component) ; break; default: mooseError("Invalid or unavailable contact model"); break; } return _test_slave[_i][_qp] * resid; case Moose::Master: switch (_model) { case CM_FRICTIONLESS: resid = pinfo->_normal(_component) * (pinfo->_normal * res_vec); break; case CM_GLUED: resid = res_vec(_component); break; default: mooseError("Invalid or unavailable contact model"); break; } return _test_master[_i][_qp] * resid; } return 0; }