void
FrictionalContactProblem::updateContactPoints(NumericVector<Number>& ghosted_solution,
bool update_incremental_slip)
{
GeometricSearchData & displaced_geom_search_data = getDisplacedProblem()->geomSearchData();
std::map<std::pair<unsigned int, unsigned int>, PenetrationLocator *> * penetration_locators = &displaced_geom_search_data._penetration_locators;
for (std::map<std::pair<unsigned int, unsigned int>, PenetrationLocator *>::iterator plit = penetration_locators->begin();
plit != penetration_locators->end();
++plit)
{
PenetrationLocator & pen_loc = *plit->second;
pen_loc.setUpdate(true);
}
//Do new contact search to update positions of slipped nodes
_displaced_problem->updateMesh(ghosted_solution, *_aux.currentSolution());
for (std::map<std::pair<unsigned int, unsigned int>, PenetrationLocator *>::iterator plit = penetration_locators->begin();
plit != penetration_locators->end();
++plit)
{
PenetrationLocator & pen_loc = *plit->second;
pen_loc.setUpdate(false);
}
if (update_incremental_slip)
updateIncrementalSlip();
}
void
FrictionalContactProblem::updateIncrementalSlip()
{
AuxiliarySystem & aux_sys = getAuxiliarySystem();
NumericVector<Number> & aux_solution = aux_sys.solution();
MooseVariable * inc_slip_x_var = &getVariable(0,_inc_slip_x);
MooseVariable * inc_slip_y_var = &getVariable(0,_inc_slip_y);
MooseVariable * inc_slip_z_var = nullptr;
unsigned int dim = getNonlinearSystem().subproblem().mesh().dimension();
if (dim == 3)
inc_slip_z_var = &getVariable(0,_inc_slip_z);
GeometricSearchData & displaced_geom_search_data = getDisplacedProblem()->geomSearchData();
std::map<std::pair<unsigned int, unsigned int>, PenetrationLocator *> * penetration_locators = &displaced_geom_search_data._penetration_locators;
for (PLIterator plit = penetration_locators->begin(); plit != penetration_locators->end(); ++plit)
{
PenetrationLocator & pen_loc = *plit->second;
bool frictional_contact_this_interaction = false;
std::map<std::pair<int,int>,InteractionParams>::iterator ipit;
std::pair<int,int> ms_pair(pen_loc._master_boundary,pen_loc._slave_boundary);
ipit = _interaction_params.find(ms_pair);
if (ipit != _interaction_params.end())
frictional_contact_this_interaction = true;
if (frictional_contact_this_interaction)
{
std::vector<dof_id_type> & slave_nodes = pen_loc._nearest_node._slave_nodes;
for (unsigned int i=0; i<slave_nodes.size(); i++)
{
dof_id_type slave_node_num = slave_nodes[i];
if (pen_loc._penetration_info[slave_node_num])
{
PenetrationInfo & info = *pen_loc._penetration_info[slave_node_num];
if (info.isCaptured())
{
const Node * node = info._node;
VectorValue<dof_id_type> inc_slip_dofs(node->dof_number(aux_sys.number(), inc_slip_x_var->number(), 0),
node->dof_number(aux_sys.number(), inc_slip_y_var->number(), 0),
(inc_slip_z_var ? node->dof_number(aux_sys.number(), inc_slip_z_var->number(), 0) : 0));
RealVectorValue inc_slip = info._incremental_slip;
for (unsigned int i=0; i<dim; ++i)
aux_solution.set(inc_slip_dofs(i), inc_slip(i));
}
}
}
}
}
aux_solution.close();
}
unsigned int
FrictionalContactProblem::numLocalFrictionalConstraints()
{
GeometricSearchData & displaced_geom_search_data = getDisplacedProblem()->geomSearchData();
std::map<std::pair<unsigned int, unsigned int>, PenetrationLocator *> * penetration_locators = &displaced_geom_search_data._penetration_locators;
unsigned int num_constraints(0);
for (std::map<std::pair<unsigned int, unsigned int>, PenetrationLocator *>::iterator plit = penetration_locators->begin();
plit != penetration_locators->end();
++plit)
{
PenetrationLocator & pen_loc = *plit->second;
bool frictional_contact_this_interaction = false;
std::map<std::pair<int,int>,InteractionParams>::iterator ipit;
std::pair<int,int> ms_pair(pen_loc._master_boundary,pen_loc._slave_boundary);
ipit = _interaction_params.find(ms_pair);
if (ipit != _interaction_params.end())
frictional_contact_this_interaction = true;
if (frictional_contact_this_interaction)
{
std::set<dof_id_type> & has_penetrated = pen_loc._has_penetrated;
std::vector<dof_id_type> & slave_nodes = pen_loc._nearest_node._slave_nodes;
for (unsigned int i=0; i<slave_nodes.size(); i++)
{
dof_id_type slave_node_num = slave_nodes[i];
if (pen_loc._penetration_info[slave_node_num])
{
std::set<dof_id_type>::iterator hpit = has_penetrated.find(slave_node_num);
if (hpit != has_penetrated.end())
{
++num_constraints;
}
}
}
}
}
return num_constraints;
}
bool
FrictionalContactProblem::calculateSlip(const NumericVector<Number>& ghosted_solution,
std::vector<SlipData> * iterative_slip)
{
NonlinearSystem & nonlinear_sys = getNonlinearSystem();
unsigned int dim = nonlinear_sys.subproblem().mesh().dimension();
MooseVariable * residual_x_var = &getVariable(0,_residual_x);
MooseVariable * residual_y_var = &getVariable(0,_residual_y);
MooseVariable * residual_z_var = NULL;
MooseVariable * diag_stiff_x_var = &getVariable(0,_diag_stiff_x);
MooseVariable * diag_stiff_y_var = &getVariable(0,_diag_stiff_y);
MooseVariable * diag_stiff_z_var = NULL;
MooseVariable * inc_slip_x_var = &getVariable(0,_inc_slip_x);
MooseVariable * inc_slip_y_var = &getVariable(0,_inc_slip_y);
MooseVariable * inc_slip_z_var = NULL;
if (dim == 3)
{
residual_z_var = &getVariable(0,_residual_z);
diag_stiff_z_var = &getVariable(0,_diag_stiff_z);
inc_slip_z_var = &getVariable(0,_inc_slip_z);
}
bool updatedSolution = false;
_slip_residual = 0.0;
_it_slip_norm = 0.0;
_inc_slip_norm = 0.0;
TransientNonlinearImplicitSystem & system = getNonlinearSystem().sys();
if (iterative_slip)
iterative_slip->clear();
if (getDisplacedProblem() && _interaction_params.size() > 0)
{
computeResidual(system, ghosted_solution, *system.rhs);
_num_contact_nodes = 0;
_num_slipping = 0;
_num_slipped_too_far = 0;
GeometricSearchData & displaced_geom_search_data = getDisplacedProblem()->geomSearchData();
std::map<std::pair<unsigned int, unsigned int>, PenetrationLocator *> * penetration_locators = &displaced_geom_search_data._penetration_locators;
AuxiliarySystem & aux_sys = getAuxiliarySystem();
const NumericVector<Number> & aux_solution = *aux_sys.currentSolution();
for (std::map<std::pair<unsigned int, unsigned int>, PenetrationLocator *>::iterator plit = penetration_locators->begin();
plit != penetration_locators->end();
++plit)
{
PenetrationLocator & pen_loc = *plit->second;
std::set<dof_id_type> & has_penetrated = pen_loc._has_penetrated;
bool frictional_contact_this_interaction = false;
std::map<std::pair<int,int>,InteractionParams>::iterator ipit;
std::pair<int,int> ms_pair(pen_loc._master_boundary,pen_loc._slave_boundary);
ipit = _interaction_params.find(ms_pair);
if (ipit != _interaction_params.end())
frictional_contact_this_interaction = true;
if (frictional_contact_this_interaction)
{
InteractionParams & interaction_params = ipit->second;
Real slip_factor = interaction_params._slip_factor;
Real slip_too_far_factor = interaction_params._slip_too_far_factor;
Real friction_coefficient = interaction_params._friction_coefficient;
std::vector<dof_id_type> & slave_nodes = pen_loc._nearest_node._slave_nodes;
for (unsigned int i=0; i<slave_nodes.size(); i++)
{
dof_id_type slave_node_num = slave_nodes[i];
if (pen_loc._penetration_info[slave_node_num])
{
PenetrationInfo & info = *pen_loc._penetration_info[slave_node_num];
const Node * node = info._node;
if (node->processor_id() == processor_id())
{
std::set<dof_id_type>::iterator hpit = has_penetrated.find(slave_node_num);
if (hpit != has_penetrated.end())
{
_num_contact_nodes++;
VectorValue<dof_id_type> residual_dofs(node->dof_number(aux_sys.number(), residual_x_var->number(), 0),
node->dof_number(aux_sys.number(), residual_y_var->number(), 0),
(residual_z_var ? node->dof_number(aux_sys.number(), residual_z_var->number(), 0) : 0));
VectorValue<dof_id_type> diag_stiff_dofs(node->dof_number(aux_sys.number(), diag_stiff_x_var->number(), 0),
node->dof_number(aux_sys.number(), diag_stiff_y_var->number(), 0),
(diag_stiff_z_var ? node->dof_number(aux_sys.number(), diag_stiff_z_var->number(), 0) : 0));
VectorValue<dof_id_type> inc_slip_dofs(node->dof_number(aux_sys.number(), inc_slip_x_var->number(), 0),
node->dof_number(aux_sys.number(), inc_slip_y_var->number(), 0),
(inc_slip_z_var ? node->dof_number(aux_sys.number(), inc_slip_z_var->number(), 0) : 0));
RealVectorValue res_vec;
RealVectorValue stiff_vec;
RealVectorValue slip_inc_vec;
for (unsigned int i=0; i<dim; ++i)
{
res_vec(i) = aux_solution(residual_dofs(i));
stiff_vec(i) = aux_solution(diag_stiff_dofs(i));
slip_inc_vec(i) = aux_solution(inc_slip_dofs(i));
}
RealVectorValue slip_iterative(0.0,0.0,0.0);
Real interaction_slip_residual = 0.0;
// _console<<"inc slip: "<<slip_inc_vec<<std::endl;
// _console<<"info slip: "<<info._incremental_slip<<std::endl;
// ContactState state = calculateInteractionSlip(slip_iterative, interaction_slip_residual, info._normal, res_vec, info._incremental_slip, stiff_vec, friction_coefficient, slip_factor, slip_too_far_factor, dim);
ContactState state = calculateInteractionSlip(slip_iterative, interaction_slip_residual, info._normal, res_vec, slip_inc_vec, stiff_vec, friction_coefficient, slip_factor, slip_too_far_factor, dim);
// _console<<"iter slip: "<<slip_iterative<<std::endl;
_slip_residual += interaction_slip_residual*interaction_slip_residual;
if (state == SLIPPING || state == SLIPPED_TOO_FAR)
{
_num_slipping++;
if (state == SLIPPED_TOO_FAR)
_num_slipped_too_far++;
for (unsigned int i=0; i<dim; ++i)
{
SlipData sd(node,i,slip_iterative(i));
if (iterative_slip)
iterative_slip->push_back(sd);
_it_slip_norm += slip_iterative(i)*slip_iterative(i);
_inc_slip_norm += (slip_inc_vec(i)+slip_iterative(i))*(slip_inc_vec(i)+slip_iterative(i));
}
}
}
}
}
}
}
}
_communicator.sum(_num_contact_nodes);
_communicator.sum(_num_slipping);
_communicator.sum(_num_slipped_too_far);
_communicator.sum(_slip_residual);
_slip_residual = std::sqrt(_slip_residual);
_communicator.sum(_it_slip_norm);
_it_slip_norm = std::sqrt(_it_slip_norm);
_communicator.sum(_inc_slip_norm);
_inc_slip_norm = std::sqrt(_inc_slip_norm);
if (_num_slipping > 0)
updatedSolution = true;
}
return updatedSolution;
}
bool
FrictionalContactProblem::enforceRateConstraint(NumericVector<Number>& vec_solution, NumericVector<Number>& ghosted_solution)
{
NonlinearSystem & nonlinear_sys = getNonlinearSystem();
unsigned int dim = nonlinear_sys.subproblem().mesh().dimension();
_displaced_problem->updateMesh(ghosted_solution, *_aux.currentSolution());
MooseVariable * disp_x_var = &getVariable(0,_disp_x);
MooseVariable * disp_y_var = &getVariable(0,_disp_y);
MooseVariable * disp_z_var = NULL;
if (dim == 3)
disp_z_var = &getVariable(0,_disp_z);
bool updatedSolution = false;
if (getDisplacedProblem() && _interaction_params.size() > 0)
{
GeometricSearchData & displaced_geom_search_data = getDisplacedProblem()->geomSearchData();
std::map<std::pair<unsigned int, unsigned int>, PenetrationLocator *> * penetration_locators = &displaced_geom_search_data._penetration_locators;
for (std::map<std::pair<unsigned int, unsigned int>, PenetrationLocator *>::iterator plit = penetration_locators->begin();
plit != penetration_locators->end();
++plit)
{
PenetrationLocator & pen_loc = *plit->second;
std::set<dof_id_type> & has_penetrated = pen_loc._has_penetrated;
bool frictional_contact_this_interaction = false;
std::map<std::pair<int,int>,InteractionParams>::iterator ipit;
std::pair<int,int> ms_pair(pen_loc._master_boundary,pen_loc._slave_boundary);
ipit = _interaction_params.find(ms_pair);
if (ipit != _interaction_params.end())
frictional_contact_this_interaction = true;
if (frictional_contact_this_interaction)
{
std::vector<dof_id_type> & slave_nodes = pen_loc._nearest_node._slave_nodes;
for (unsigned int i=0; i<slave_nodes.size(); i++)
{
dof_id_type slave_node_num = slave_nodes[i];
if (pen_loc._penetration_info[slave_node_num])
{
PenetrationInfo & info = *pen_loc._penetration_info[slave_node_num];
std::set<dof_id_type>::iterator hpit = has_penetrated.find(slave_node_num);
if (hpit != has_penetrated.end())
{
// _console<<"Slave node: "<<slave_node_num<<std::endl;
const Node * node = info._node;
VectorValue<dof_id_type> solution_dofs(node->dof_number(nonlinear_sys.number(), disp_x_var->number(), 0),
node->dof_number(nonlinear_sys.number(), disp_y_var->number(), 0),
(disp_z_var ? node->dof_number(nonlinear_sys.number(), disp_z_var->number(), 0) : 0));
//Get old parametric coords from info
//get old element from info
//Apply current configuration to that element and find xyz coords of that point
//find xyz coords of current point from original coords and displacement vector
//calculate difference between those two point coordinates to get correction
// std::vector<Point>points(1);
// points[0] = info._starting_closest_point_ref;
// Elem *side = (info._starting_elem->build_side(info._starting_side_num,false)).release();
// FEBase &fe = *(pen_loc._fe[0]);
// fe.reinit(side, &points);
// RealVectorValue correction = starting_point[0] - current_coords;
// RealVectorValue current_coords = *node;
// RealVectorValue correction = info._closest_point - current_coords;
const Node & undisp_node = _mesh.node(node->id());
RealVectorValue solution = info._closest_point - undisp_node;
for (unsigned int i=0; i<dim; ++i)
{
// vec_solution.add(solution_dofs(i), correction(i));
vec_solution.set(solution_dofs(i), solution(i));
}
info._distance = 0.0;
}
}
}
}
updatedSolution = true;
}
vec_solution.close();
_communicator.max(updatedSolution);
if (updatedSolution)
{
ghosted_solution = vec_solution;
ghosted_solution.close();
}
}
return updatedSolution;
}
MooseNonlinearConvergenceReason
AugmentedLagrangianContactProblem::checkNonlinearConvergence(std::string & msg,
const PetscInt it,
const Real xnorm,
const Real snorm,
const Real fnorm,
const Real rtol,
const Real stol,
const Real abstol,
const PetscInt nfuncs,
const PetscInt /*max_funcs*/,
const PetscBool force_iteration,
const Real ref_resid,
const Real /*div_threshold*/)
{
Real my_max_funcs = std::numeric_limits<int>::max();
Real my_div_threshold = std::numeric_limits<Real>::max();
MooseNonlinearConvergenceReason reason =
ReferenceResidualProblem::checkNonlinearConvergence(msg,
it,
xnorm,
snorm,
fnorm,
rtol,
stol,
abstol,
nfuncs,
my_max_funcs,
force_iteration,
ref_resid,
my_div_threshold);
_console << "Augmented Lagrangian contact iteration " << _num_lagmul_iterations << "\n";
bool _augLM_repeat_step;
if (reason > 0)
{
if (_num_lagmul_iterations < _max_lagmul_iters)
{
NonlinearSystemBase & nonlinear_sys = getNonlinearSystemBase();
nonlinear_sys.update();
const ConstraintWarehouse & constraints = nonlinear_sys.getConstraintWarehouse();
std::map<std::pair<unsigned int, unsigned int>, PenetrationLocator *> * penetration_locators =
NULL;
bool displaced = false;
_augLM_repeat_step = false;
if (getDisplacedProblem() == NULL)
{
GeometricSearchData & geom_search_data = geomSearchData();
penetration_locators = &geom_search_data._penetration_locators;
}
else
{
GeometricSearchData & displaced_geom_search_data = getDisplacedProblem()->geomSearchData();
penetration_locators = &displaced_geom_search_data._penetration_locators;
displaced = true;
}
for (const auto & it : *penetration_locators)
{
PenetrationLocator & pen_loc = *(it.second);
BoundaryID slave_boundary = pen_loc._slave_boundary;
if (constraints.hasActiveNodeFaceConstraints(slave_boundary, displaced))
{
const auto & ncs = constraints.getActiveNodeFaceConstraints(slave_boundary, displaced);
for (const auto & nc : ncs)
{
if (std::dynamic_pointer_cast<MechanicalContactConstraint>(nc) == NULL)
mooseError("AugmentedLagrangianContactProblem: dynamic cast of "
"MechanicalContactConstraint object failed.");
if (!(std::dynamic_pointer_cast<MechanicalContactConstraint>(nc))
->AugmentedLagrangianContactConverged())
{
(std::dynamic_pointer_cast<MechanicalContactConstraint>(nc))
->updateAugmentedLagrangianMultiplier(false);
_augLM_repeat_step = true;
break;
}
}
}
}
if (_augLM_repeat_step)
{
// force it to keep iterating
reason = MOOSE_NONLINEAR_ITERATING;
_console << "Augmented Lagrangian Multiplier needs updating." << std::endl;
_num_lagmul_iterations++;
}
else
_console << "Augmented Lagrangian contact constraint enforcement is satisfied."
<< std::endl;
}
else
{
// maxed out
_console << "Maximum Augmented Lagrangian contact iterations have been reached." << std::endl;
reason = MOOSE_DIVERGED_FUNCTION_COUNT;
}
}
return reason;
}
