Real
MechanicalContactConstraint::computeQpResidual(Moose::ConstraintType type)
{
PenetrationInfo * pinfo = _penetration_locator._penetration_info[_current_node->id()];
Real resid = pinfo->_contact_force(_component);
switch (type)
{
case Moose::Slave:
if (_formulation == CF_KINEMATIC)
{
RealVectorValue distance_vec(*_current_node - pinfo->_closest_point);
const Real penalty = getPenalty(*pinfo);
RealVectorValue pen_force(penalty * distance_vec);
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_slave[_i][_qp] * resid;
case Moose::Master:
return _test_master[_i][_qp] * -resid;
}
return 0;
}
void
ContactMaster::updateContactSet(bool beginning_of_step)
{
std::map<dof_id_type, PenetrationInfo *>::iterator
it = _penetration_locator._penetration_info.begin(),
end = _penetration_locator._penetration_info.end();
for (; it!=end; ++it)
{
const dof_id_type slave_node_num = it->first;
PenetrationInfo * pinfo = it->second;
// Skip this pinfo if there are no DOFs on this node.
if ( ! pinfo || pinfo->_node->n_comp(_sys.number(), _vars(_component)) < 1 )
continue;
if (beginning_of_step)
{
pinfo->_locked_this_step = 0;
pinfo->_starting_elem = it->second->_elem;
pinfo->_starting_side_num = it->second->_side_num;
pinfo->_starting_closest_point_ref = it->second->_closest_point_ref;
pinfo->_contact_force_old = pinfo->_contact_force;
pinfo->_accumulated_slip_old = pinfo->_accumulated_slip;
pinfo->_frictional_energy_old = pinfo->_frictional_energy;
}
const Real contact_pressure = -(pinfo->_normal * pinfo->_contact_force) / nodalArea(*pinfo);
const Real distance = pinfo->_normal * (pinfo->_closest_point - _mesh.node(slave_node_num));
// Capture
if ( ! pinfo->isCaptured() && MooseUtils::absoluteFuzzyGreaterEqual(distance, 0, _capture_tolerance))
{
pinfo->capture();
// Increment the lock count every time the node comes back into contact from not being in contact.
if (_formulation == CF_KINEMATIC)
++pinfo->_locked_this_step;
}
// Release
else if (_model != CM_GLUED &&
pinfo->isCaptured() &&
_tension_release >= 0 &&
-contact_pressure >= _tension_release &&
pinfo->_locked_this_step < 2)
{
pinfo->release();
pinfo->_contact_force.zero();
}
if (_formulation == CF_AUGMENTED_LAGRANGE && pinfo->isCaptured())
pinfo->_lagrange_multiplier -= getPenalty(*pinfo) * distance;
}
}
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;
}
void
MechanicalContactConstraint::computeContactForce(PenetrationInfo * pinfo)
{
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);
}
RealVectorValue distance_vec(_mesh.node(node->id()) - pinfo->_closest_point);
const Real penalty = getPenalty(*pinfo);
RealVectorValue pen_force(penalty * distance_vec);
switch (_model)
{
case CM_FRICTIONLESS:
switch (_formulation)
{
case CF_KINEMATIC:
pinfo->_contact_force = -pinfo->_normal * (pinfo->_normal * res_vec);
break;
case CF_PENALTY:
pinfo->_contact_force = pinfo->_normal * (pinfo->_normal * pen_force);
break;
case CF_AUGMENTED_LAGRANGE:
pinfo->_contact_force = (pinfo->_normal * (pinfo->_normal *
( pen_force + pinfo->_lagrange_multiplier * pinfo->_normal)));
break;
default:
mooseError("Invalid contact formulation");
break;
}
pinfo->_mech_status=PenetrationInfo::MS_SLIPPING;
break;
case CM_COULOMB:
switch (_formulation)
{
case CF_KINEMATIC:
pinfo->_contact_force = -res_vec;
break;
case CF_PENALTY:
{
distance_vec = pinfo->_incremental_slip + (pinfo->_normal * (_mesh.node(node->id()) - pinfo->_closest_point)) * pinfo->_normal;
pen_force = penalty * distance_vec;
// Frictional capacity
// const Real capacity( _friction_coefficient * (pen_force * pinfo->_normal < 0 ? -pen_force * pinfo->_normal : 0) );
const Real capacity( _friction_coefficient * (res_vec * pinfo->_normal > 0 ? res_vec * pinfo->_normal : 0) );
// Elastic predictor
pinfo->_contact_force = pen_force + (pinfo->_contact_force_old - pinfo->_normal*(pinfo->_normal*pinfo->_contact_force_old));
RealVectorValue contact_force_normal( (pinfo->_contact_force*pinfo->_normal) * pinfo->_normal );
RealVectorValue contact_force_tangential( pinfo->_contact_force - contact_force_normal );
// Tangential magnitude of elastic predictor
const Real tan_mag( contact_force_tangential.size() );
if ( tan_mag > capacity )
{
pinfo->_contact_force = contact_force_normal + capacity * contact_force_tangential / tan_mag;
pinfo->_mech_status=PenetrationInfo::MS_SLIPPING;
}
else
pinfo->_mech_status=PenetrationInfo::MS_STICKING;
break;
}
case CF_AUGMENTED_LAGRANGE:
pinfo->_contact_force = pen_force +
pinfo->_lagrange_multiplier*distance_vec/distance_vec.size();
break;
default:
mooseError("Invalid contact formulation");
break;
}
break;
case CM_GLUED:
switch (_formulation)
{
case CF_KINEMATIC:
pinfo->_contact_force = -res_vec;
break;
case CF_PENALTY:
pinfo->_contact_force = pen_force;
break;
case CF_AUGMENTED_LAGRANGE:
pinfo->_contact_force = pen_force +
pinfo->_lagrange_multiplier*distance_vec/distance_vec.size();
break;
default:
mooseError("Invalid contact formulation");
break;
}
pinfo->_mech_status=PenetrationInfo::MS_STICKING;
break;
default:
mooseError("Invalid or unavailable contact model");
break;
}
}
Real
MechanicalContactConstraint::computeQpJacobian(Moose::ConstraintJacobianType type)
{
PenetrationInfo * pinfo = _penetration_locator._penetration_info[_current_node->id()];
const Real penalty = getPenalty(*pinfo);
switch (type)
{
case Moose::SlaveSlave:
switch (_model)
{
case CM_FRICTIONLESS:
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:
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:
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:
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:
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:
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:
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:
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;
}
void
MechanicalContactConstraint::updateContactSet(bool beginning_of_step)
{
std::set<unsigned int> & has_penetrated = _penetration_locator._has_penetrated;
std::map<unsigned int, unsigned> & unlocked_this_step = _penetration_locator._unlocked_this_step;
std::map<unsigned int, unsigned> & locked_this_step = _penetration_locator._locked_this_step;
std::map<unsigned int, Real> & lagrange_multiplier = _penetration_locator._lagrange_multiplier;
std::map<unsigned int, PenetrationInfo *>::iterator it = _penetration_locator._penetration_info.begin();
std::map<unsigned int, PenetrationInfo *>::iterator end = _penetration_locator._penetration_info.end();
for (; it!=end; ++it)
{
PenetrationInfo * pinfo = it->second;
if (!pinfo)
continue;
const unsigned int slave_node_num = it->first;
std::set<unsigned int>::iterator hpit = has_penetrated.find(slave_node_num);
if (beginning_of_step)
{
if (hpit != has_penetrated.end())
pinfo->_penetrated_at_beginning_of_step = true;
else
pinfo->_penetrated_at_beginning_of_step = false;
pinfo->_starting_elem = it->second->_elem;
pinfo->_starting_side_num = it->second->_side_num;
pinfo->_starting_closest_point_ref = it->second->_closest_point_ref;
}
const Node * node = pinfo->_node;
const Real area = nodalArea(*pinfo);
if ((_model == CM_FRICTIONLESS && _formulation == CF_DEFAULT) ||
(_model == CM_COULOMB && _formulation == CF_DEFAULT))
{
Real resid( -(pinfo->_normal * pinfo->_contact_force) / area );
// Moose::out << locked_this_step[slave_node_num] << " " << pinfo->_distance << std::endl;
const Real distance( pinfo->_normal * (pinfo->_closest_point - _mesh.node(node->id())));
if (hpit != has_penetrated.end() &&
_tension_release >= 0 &&
resid < -_tension_release &&
locked_this_step[slave_node_num] < 2)
{
//Moose::out << "Releasing node " << node->id() << " " << resid << " < " << -_tension_release << std::endl;
has_penetrated.erase(hpit);
pinfo->_contact_force.zero();
pinfo->_mech_status=PenetrationInfo::MS_NO_CONTACT;
++unlocked_this_step[slave_node_num];
}
else if (distance > 0)
{
if (hpit == has_penetrated.end())
{
//Moose::out << "Capturing node " << node->id() << " " << distance << " " << unlocked_this_step[slave_node_num] << std::endl;
++locked_this_step[slave_node_num];
has_penetrated.insert(slave_node_num);
}
}
}
else if (_formulation == CF_PENALTY)
{
if (pinfo->_distance >= 0) //Penetrated
{
if (hpit == has_penetrated.end())
has_penetrated.insert(slave_node_num);
}
else if (_tension_release < 0 ||
(pinfo->_contact_force * pinfo->_normal) / area < _tension_release) //In contact and below tension release threshold
{
// Do nothing.
}
else
{
if (hpit != has_penetrated.end())
has_penetrated.erase(hpit);
pinfo->_contact_force.zero();
pinfo->_mech_status=PenetrationInfo::MS_NO_CONTACT;
}
}
else
{
if (pinfo->_distance >= 0)
{
if (hpit == has_penetrated.end())
has_penetrated.insert(slave_node_num);
}
}
if (_formulation == CF_AUGMENTED_LAGRANGE && hpit != has_penetrated.end())
{
const RealVectorValue distance_vec(_mesh.node(slave_node_num) - pinfo->_closest_point);
Real penalty = getPenalty(*pinfo);
lagrange_multiplier[slave_node_num] += penalty * pinfo->_normal * distance_vec;
}
}
}