267 lines
13 KiB
C++
267 lines
13 KiB
C++
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#include "linearsimulationmodel.hpp"
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#include "gsl/gsl"
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std::vector<fea::Elem> LinearSimulationModel::getFeaElements(
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const std::shared_ptr<SimulationMesh> &pMesh)
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{
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const int numberOfEdges = pMesh->EN();
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std::vector<fea::Elem> elements(numberOfEdges);
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for (int edgeIndex = 0; edgeIndex < numberOfEdges; edgeIndex++) {
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const SimulationMesh::CoordType &evn0 = pMesh->edge[edgeIndex].cV(0)->cN();
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const SimulationMesh::CoordType &evn1 = pMesh->edge[edgeIndex].cV(1)->cN();
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const std::vector<double> nAverageVector{(evn0[0] + evn1[0]) / 2,
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(evn0[1] + evn1[1]) / 2,
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(evn0[2] + evn1[2]) / 2};
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const Element &element = pMesh->elements[edgeIndex];
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const double E = element.material.youngsModulus;
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fea::Props feaProperties(E * element.A,
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E * element.inertia.I3,
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E * element.inertia.I2,
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element.G * element.inertia.J,
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nAverageVector);
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const int vi0 = pMesh->getIndex(pMesh->edge[edgeIndex].cV(0));
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const int vi1 = pMesh->getIndex(pMesh->edge[edgeIndex].cV(1));
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elements[edgeIndex] = fea::Elem(vi0, vi1, feaProperties);
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}
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return elements;
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}
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std::vector<fea::Node> LinearSimulationModel::getFeaNodes(
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const std::shared_ptr<SimulationMesh> &pMesh)
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{
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const int numberOfNodes = pMesh->VN();
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std::vector<fea::Node> feaNodes(numberOfNodes);
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for (int vi = 0; vi < numberOfNodes; vi++) {
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const CoordType &p = pMesh->vert[vi].cP();
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feaNodes[vi] = fea::Node(p[0], p[1], p[2]);
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}
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return feaNodes;
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}
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std::vector<fea::BC> LinearSimulationModel::getFeaFixedNodes(
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const std::shared_ptr<SimulationJob> &job)
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{
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std::vector<fea::BC> boundaryConditions;
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// boundaryConditions.reserve(job->constrainedVertices.size() * 6
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// + job->nodalForcedDisplacements.size() * 3);
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for (auto fixedVertex : job->constrainedVertices) {
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const int vertexIndex = fixedVertex.first;
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for (int dofIndex : fixedVertex.second) {
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boundaryConditions.emplace_back(
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fea::BC(vertexIndex, static_cast<fea::DOF>(dofIndex), 0));
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}
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}
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for (auto forcedDisplacement : job->nodalForcedDisplacements) {
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const int vi = forcedDisplacement.first;
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for (int dofIndex = 0; dofIndex < 3; dofIndex++) {
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boundaryConditions.emplace_back(
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fea::BC(vi, static_cast<fea::DOF>(dofIndex), forcedDisplacement.second[dofIndex]));
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}
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}
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return boundaryConditions;
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}
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std::vector<fea::Force> LinearSimulationModel::getFeaNodalForces(
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const std::shared_ptr<SimulationJob> &job)
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{
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std::vector<fea::Force> nodalForces;
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nodalForces.reserve(job->nodalExternalForces.size() * 6);
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for (auto nodalForce : job->nodalExternalForces) {
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for (int dofIndex = 0; dofIndex < 6; dofIndex++) {
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if (nodalForce.second[dofIndex] == 0) {
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continue;
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}
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fea::Force f(nodalForce.first, dofIndex, nodalForce.second[dofIndex]);
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nodalForces.emplace_back(f);
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}
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}
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return nodalForces;
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}
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SimulationResults LinearSimulationModel::getResults(
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const fea::Summary &feaSummary, const std::shared_ptr<SimulationJob> &simulationJob)
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{
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SimulationResults results;
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results.converged = feaSummary.converged;
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if (!results.converged) {
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return results;
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}
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results.executionTime = feaSummary.total_time_in_ms * 1000;
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// displacements
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results.displacements.resize(feaSummary.num_nodes);
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results.rotationalDisplacementQuaternion.resize(feaSummary.num_nodes);
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for (int vi = 0; vi < feaSummary.num_nodes; vi++) {
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results.displacements[vi] = Vector6d(feaSummary.nodal_displacements[vi]);
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const Vector6d &nodalDisplacement = results.displacements[vi];
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Eigen::Quaternion<double> q_nx;
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q_nx = Eigen::AngleAxis<double>(nodalDisplacement[3], Eigen::Vector3d(1, 0, 0));
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Eigen::Quaternion<double> q_ny;
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q_ny = Eigen::AngleAxis<double>(nodalDisplacement[4], Eigen::Vector3d(0, 1, 0));
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Eigen::Quaternion<double> q_nz;
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q_nz = Eigen::AngleAxis<double>(nodalDisplacement[5], Eigen::Vector3d(0, 0, 1));
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results.rotationalDisplacementQuaternion[vi] = q_nx * q_ny * q_nz;
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// results.rotationalDisplacementQuaternion[vi] = q_nz * q_ny * q_nx;
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// results.rotationalDisplacementQuaternion[vi] = q_nz * q_nx * q_ny;
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}
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results.setLabelPrefix("Linear");
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// // Convert forces
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// // Convert to vector of eigen matrices of the form force component-> per
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// // Edge
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// const int numDof = 6;
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// const size_t numberOfEdges = feaSummary.element_forces.size();
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// edgeForces =
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// std::vector<Eigen::VectorXd>(numDof, Eigen::VectorXd(2 *
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// numberOfEdges));
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// for (gsl::index edgeIndex = 0; edgeIndex < numberOfEdges; edgeIndex++) {
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// for (gsl::index forceComponentIndex = 0; forceComponentIndex < numDof;
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// forceComponentIndex++) {
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// (edgeForces[forceComponentIndex])(2 * edgeIndex) =
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// feaSummary.element_forces[edgeIndex][forceComponentIndex];
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// (edgeForces[forceComponentIndex])(2 * edgeIndex + 1) =
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// feaSummary.element_forces[edgeIndex][numDof +
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// forceComponentIndex];
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// }
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// }
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for (int ei = 0; ei < feaSummary.num_elems; ei++) {
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const std::vector<double> &elementForces = feaSummary.element_forces[ei];
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const Element &element = simulationJob->pMesh->elements[ei];
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//Axial
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const double elementPotentialEnergy_axial_v0 = std::pow(elementForces[0], 2)
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* element.initialLength
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/ (4 * element.material.youngsModulus
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* element.A);
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const double elementPotentialEnergy_axial_v1 = std::pow(elementForces[6], 2)
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* element.initialLength
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/ (4 * element.material.youngsModulus
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* element.A);
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const double elementPotentialEnergy_axial = elementPotentialEnergy_axial_v0
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+ elementPotentialEnergy_axial_v1;
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//Shear
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const double elementPotentialEnergy_shearY_v0 = std::pow(elementForces[1], 2)
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* element.initialLength
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/ (4 * element.A * element.G);
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const double elementPotentialEnergy_shearZ_v0 = std::pow(elementForces[2], 2)
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* element.initialLength
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/ (4 * element.A * element.G);
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const double elementPotentialEnergy_shearY_v1 = std::pow(elementForces[7], 2)
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* element.initialLength
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/ (4 * element.A * element.G);
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const double elementPotentialEnergy_shearZ_v1 = std::pow(elementForces[8], 2)
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* element.initialLength
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/ (4 * element.A * element.G);
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const double elementPotentialEnergy_shear = elementPotentialEnergy_shearY_v0
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+ elementPotentialEnergy_shearZ_v0
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+ elementPotentialEnergy_shearY_v1
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+ elementPotentialEnergy_shearZ_v1;
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//Bending
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const double elementPotentialEnergy_bendingY_v0 = std::pow(elementForces[4], 2)
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* element.initialLength
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/ (4 * element.material.youngsModulus
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* element.inertia.I2);
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const double elementPotentialEnergy_bendingZ_v0 = std::pow(elementForces[5], 2)
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* element.initialLength
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/ (4 * element.material.youngsModulus
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* element.inertia.I3);
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const double elementPotentialEnergy_bendingY_v1 = std::pow(elementForces[10], 2)
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* element.initialLength
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/ (4 * element.material.youngsModulus
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* element.inertia.I2);
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const double elementPotentialEnergy_bendingZ_v1 = std::pow(elementForces[11], 2)
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* element.initialLength
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/ (4 * element.material.youngsModulus
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* element.inertia.I3);
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const double elementPotentialEnergy_bending = elementPotentialEnergy_bendingY_v0
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+ elementPotentialEnergy_bendingZ_v0
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+ elementPotentialEnergy_bendingY_v1
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+ elementPotentialEnergy_bendingZ_v1;
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//Torsion
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const double elementPotentialEnergy_torsion_v0 = std::pow(elementForces[3], 2)
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* element.initialLength
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/ (4 * element.inertia.J * element.G);
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const double elementPotentialEnergy_torsion_v1 = std::pow(elementForces[9], 2)
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* element.initialLength
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/ (4 * element.inertia.J * element.G);
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const double elementPotentialEnergy_torsion = elementPotentialEnergy_torsion_v0
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+ elementPotentialEnergy_torsion_v1;
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const double elementInternalPotentialEnergy = elementPotentialEnergy_axial
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+ elementPotentialEnergy_shear
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+ elementPotentialEnergy_bending
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+ elementPotentialEnergy_torsion;
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results.internalPotentialEnergy += elementInternalPotentialEnergy;
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}
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results.pJob = simulationJob;
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return results;
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}
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SimulationResults LinearSimulationModel::executeSimulation(
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const std::shared_ptr<SimulationJob> &pSimulationJob)
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{
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assert(pSimulationJob->pMesh->VN() != 0);
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if (!simulator.wasInitialized()) {
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setStructure(pSimulationJob->pMesh);
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}
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// printInfo(job);
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// create the default options
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fea::Options opts;
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opts.save_elemental_forces = false;
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opts.save_nodal_displacements = false;
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opts.save_nodal_forces = false;
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opts.save_report = false;
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opts.save_tie_forces = false;
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// if (!elementalForcesOutputFilepath.empty()) {
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// opts.save_elemental_forces = true;
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// opts.elemental_forces_filename = elementalForcesOutputFilepath;
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// }
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// if (!nodalDisplacementsOutputFilepath.empty()) {
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// opts.save_nodal_displacements = true;
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// opts.nodal_displacements_filename = nodalDisplacementsOutputFilepath;
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// }
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// have the program output status updates
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opts.verbose = false;
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// form an empty vector of ties
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std::vector<fea::Tie> ties;
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// also create an empty list of equations
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std::vector<fea::Equation> equations;
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auto fixedVertices = getFeaFixedNodes(pSimulationJob);
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auto nodalForces = getFeaNodalForces(pSimulationJob);
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fea::Summary feaResults = simulator.solve(fixedVertices, nodalForces, ties, equations, opts);
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SimulationResults results = getResults(feaResults, pSimulationJob);
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results.pJob = pSimulationJob;
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return results;
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}
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void LinearSimulationModel::setStructure(const std::shared_ptr<SimulationMesh> &pMesh)
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{
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fea::BeamStructure structure(getFeaNodes(pMesh), getFeaElements(pMesh));
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simulator.initialize(structure);
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}
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void LinearSimulationModel::printInfo(const fea::BeamStructure &job)
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{
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std::cout << "Details regarding the fea::Job:" << std::endl;
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std::cout << "Nodes:" << std::endl;
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for (fea::Node n : job.nodes) {
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std::cout << n << std::endl;
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}
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std::cout << "Elements:" << std::endl;
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for (Eigen::Vector2i e : job.elems) {
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std::cout << e << std::endl;
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}
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}
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