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Viscous damping. 6d vector masses

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iasonmanolas 2021-07-15 12:01:12 +03:00
parent 5ebf354dcf
commit b764d7db2c
6 changed files with 493 additions and 94 deletions
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CMakeLists.txt.user Normal file
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186
drmsimulationmodel.cpp
View File

@ -222,7 +222,6 @@ void DRMSimulationModel::reset()
mCurrentSimulationStep = 0; mCurrentSimulationStep = 0;
history.clear(); history.clear();
constrainedVertices.clear(); constrainedVertices.clear();
rigidSupports.clear();
pMesh.reset(); pMesh.reset();
plotYValues.clear(); plotYValues.clear();
plotHandle.reset(); plotHandle.reset();
@ -232,6 +231,8 @@ void DRMSimulationModel::reset()
numOfDampings = 0; numOfDampings = 0;
shouldTemporarilyDampForces = false; shouldTemporarilyDampForces = false;
externalLoadStep = 1; externalLoadStep = 1;
isVertexConstrained.clear();
minTotalResidualForcesNorm = std::numeric_limits<double>::max();
} }
VectorType DRMSimulationModel::computeDisplacementDifferenceDerivative( VectorType DRMSimulationModel::computeDisplacementDifferenceDerivative(
@ -544,13 +545,18 @@ double DRMSimulationModel::computeTheta3(const EdgeType &e, const VertexType &v)
// Use nR as theta3 only for the first star edge // Use nR as theta3 only for the first star edge
return nR; return nR;
} }
std::vector<int> incidentElementsIndices(node.incidentElements.size()); // std::vector<int> incidentElementsIndices(node.incidentElements.size());
for (int iei = 0; iei < incidentElementsIndices.size(); iei++) { // for (int iei = 0; iei < incidentElementsIndices.size(); iei++) {
incidentElementsIndices[iei] = pMesh->getIndex(node.incidentElements[iei]); // incidentElementsIndices[iei] = pMesh->getIndex(node.incidentElements[iei]);
} // }
assert(pMesh->getIndex(e) == ei); assert(pMesh->getIndex(e) == ei);
assert(node.alphaAngles.contains(ei)); // assert(node.alphaAngles.contains(ei));
const double alphaAngle = node.alphaAngles.at(elem.ei); const double alphaAngle = std::find_if(node.alphaAngles.begin(),
node.alphaAngles.end(),
[&](const std::pair<EdgeIndex, double> &p) {
return elem.ei == p.first;
})
->second;
const EdgeType &refElem = *node.referenceElement; const EdgeType &refElem = *node.referenceElement;
const double rotationAngle = nR + alphaAngle; const double rotationAngle = nR + alphaAngle;
@ -591,8 +597,7 @@ double DRMSimulationModel::computeDerivativeTheta3(const EdgeType &e,
{ {
const Node &node = pMesh->nodes[v]; const Node &node = pMesh->nodes[v];
const VertexIndex &vi = pMesh->nodes[v].vi; const VertexIndex &vi = pMesh->nodes[v].vi;
const bool isRigidSupport = rigidSupports.contains(vi); if (&e == node.referenceElement && !isRigidSupport[vi]) {
if (&e == node.referenceElement && !isRigidSupport) {
if (dui.dofi == DoF::Nr && &dui.v == &v) { if (dui.dofi == DoF::Nr && &dui.v == &v) {
return 1; return 1;
} else { } else {
@ -610,7 +615,7 @@ double DRMSimulationModel::computeDerivativeTheta3(const EdgeType &e,
const VertexPointer &vp_jplus1 = e.cV(1); const VertexPointer &vp_jplus1 = e.cV(1);
double derivativeTheta3_dofi = 0; double derivativeTheta3_dofi = 0;
if (isRigidSupport) { if (isRigidSupport[vi]) {
const VectorType &t1Initial = computeT1Vector(pMesh->nodes[vp_j].initialLocation, const VectorType &t1Initial = computeT1Vector(pMesh->nodes[vp_j].initialLocation,
pMesh->nodes[vp_jplus1].initialLocation); pMesh->nodes[vp_jplus1].initialLocation);
VectorType g1 = Cross(t1, t1Initial); VectorType g1 = Cross(t1, t1Initial);
@ -800,9 +805,9 @@ void DRMSimulationModel::updateResidualForcesOnTheFly(
pMesh->EN(), std::vector<std::pair<int, Vector6d>>(4, {-1, Vector6d()})); pMesh->EN(), std::vector<std::pair<int, Vector6d>>(4, {-1, Vector6d()}));
// omp_lock_t writelock; // omp_lock_t writelock;
// omp_init_lock(&writelock); // omp_init_lock(&writelock);
//#ifdef ENABLE_OPENMP #ifdef ENABLE_OPENMP
//#pragma omp parallel for schedule(static) num_threads(8) #pragma omp parallel for schedule(static) num_threads(5)
//#endif #endif
for (int ei = 0; ei < pMesh->EN(); ei++) { for (int ei = 0; ei < pMesh->EN(); ei++) {
const EdgeType &e = pMesh->edge[ei]; const EdgeType &e = pMesh->edge[ei];
const SimulationMesh::VertexType &ev_j = *e.cV(0); const SimulationMesh::VertexType &ev_j = *e.cV(0);
@ -843,7 +848,7 @@ void DRMSimulationModel::updateResidualForcesOnTheFly(
const size_t vi = edgeNode.vi; const size_t vi = edgeNode.vi;
// #pragma omp parallel for schedule(static) num_threads(6) // #pragma omp parallel for schedule(static) num_threads(6)
for (DoFType dofi = DoF::Ux; dofi < DoF::NumDoF; dofi++) { for (DoFType dofi = DoF::Ux; dofi < DoF::NumDoF; dofi++) {
const bool isDofConstrainedFor_ev = fixedVertices.contains(edgeNode.vi) const bool isDofConstrainedFor_ev = isVertexConstrained[edgeNode.vi]
&& fixedVertices.at(edgeNode.vi).contains(dofi); && fixedVertices.at(edgeNode.vi).contains(dofi);
if (!isDofConstrainedFor_ev) { if (!isDofConstrainedFor_ev) {
DifferentiateWithRespectTo dui{ev, dofi}; DifferentiateWithRespectTo dui{ev, dofi};
@ -924,7 +929,7 @@ void DRMSimulationModel::updateResidualForcesOnTheFly(
} }
if (edgeNode.referenceElement != &e) { if (edgeNode.referenceElement != &e) {
const bool isDofConstrainedFor_refElemOtherVertex const bool isDofConstrainedFor_refElemOtherVertex
= fixedVertices.contains(refElemOtherVertexNode.vi) = isVertexConstrained[refElemOtherVertexNode.vi]
&& fixedVertices.at(refElemOtherVertexNode.vi).contains(dofi); && fixedVertices.at(refElemOtherVertexNode.vi).contains(dofi);
if (!isDofConstrainedFor_refElemOtherVertex) { if (!isDofConstrainedFor_refElemOtherVertex) {
DifferentiateWithRespectTo dui{*refElemOtherVertex, dofi}; DifferentiateWithRespectTo dui{*refElemOtherVertex, dofi};
@ -1012,6 +1017,11 @@ void DRMSimulationModel::updateResidualForcesOnTheFly(
} }
pMesh->previousTotalResidualForcesNorm = pMesh->totalResidualForcesNorm; pMesh->previousTotalResidualForcesNorm = pMesh->totalResidualForcesNorm;
pMesh->totalResidualForcesNorm = totalResidualForcesNorm; pMesh->totalResidualForcesNorm = totalResidualForcesNorm;
if (mSettings.beVerbose) {
if (minTotalResidualForcesNorm > pMesh->totalResidualForcesNorm) {
minTotalResidualForcesNorm = pMesh->totalResidualForcesNorm;
}
}
pMesh->averageResidualForcesNorm = totalResidualForcesNorm / pMesh->VN(); pMesh->averageResidualForcesNorm = totalResidualForcesNorm / pMesh->VN();
// pMesh->averageResidualForcesNorm = sumOfResidualForces.norm() / pMesh->VN(); // pMesh->averageResidualForcesNorm = sumOfResidualForces.norm() / pMesh->VN();
@ -1078,6 +1088,8 @@ void DRMSimulationModel::updateResidualForces()
void DRMSimulationModel::computeRigidSupports() void DRMSimulationModel::computeRigidSupports()
{ {
isRigidSupport.clear();
isRigidSupport.resize(pMesh->VN(), false);
for (const VertexType &v : pMesh->vert) { for (const VertexType &v : pMesh->vert) {
const VertexIndex vi = pMesh->nodes[v].vi; const VertexIndex vi = pMesh->nodes[v].vi;
const bool isVertexConstrained = constrainedVertices.contains(vi); const bool isVertexConstrained = constrainedVertices.contains(vi);
@ -1090,7 +1102,7 @@ void DRMSimulationModel::computeRigidSupports()
&& constrainedDoFType.contains(DoF::Ny) && constrainedDoFType.contains(DoF::Ny)
&& constrainedDoFType.contains(DoF::Nr); && constrainedDoFType.contains(DoF::Nr);
if (hasAllDoFTypeConstrained) { if (hasAllDoFTypeConstrained) {
rigidSupports.insert(vi); isRigidSupport[vi] = true;
} }
} }
} }
@ -1180,8 +1192,9 @@ void DRMSimulationModel::updateNodalMasses()
if (shouldTemporarilyDampForces && mCurrentSimulationStep < untilStep) { if (shouldTemporarilyDampForces && mCurrentSimulationStep < untilStep) {
gamma *= 1e6 * (1 - static_cast<double>(mCurrentSimulationStep) / untilStep); gamma *= 1e6 * (1 - static_cast<double>(mCurrentSimulationStep) / untilStep);
} }
if (mCurrentSimulationStep == untilStep && shouldTemporarilyDampForces) { if (mCurrentSimulationStep == static_cast<size_t>(1.2 * untilStep)
Dt = mSettings.Dtini * 0.95; && shouldTemporarilyDampForces) {
Dt = mSettings.Dtini;
} }
for (VertexType &v : pMesh->vert) { for (VertexType &v : pMesh->vert) {
const size_t vi = pMesh->getIndex(v); const size_t vi = pMesh->getIndex(v);
@ -1215,6 +1228,14 @@ void DRMSimulationModel::updateNodalMasses()
* rotationalSumSk_I3; * rotationalSumSk_I3;
pMesh->nodes[v].mass.rotationalJ = gamma * pow(mSettings.Dtini, 2) * 8 * rotationalSumSk_J; pMesh->nodes[v].mass.rotationalJ = gamma * pow(mSettings.Dtini, 2) * 8 * rotationalSumSk_J;
//fill 6d mass vector
pMesh->nodes[v].mass_6d[DoF::Ux] = pMesh->nodes[v].mass.translational;
pMesh->nodes[v].mass_6d[DoF::Uy] = pMesh->nodes[v].mass.translational;
pMesh->nodes[v].mass_6d[DoF::Uz] = pMesh->nodes[v].mass.translational;
pMesh->nodes[v].mass_6d[DoF::Nx] = pMesh->nodes[v].mass.rotationalJ;
pMesh->nodes[v].mass_6d[DoF::Ny] = pMesh->nodes[v].mass.rotationalI3;
pMesh->nodes[v].mass_6d[DoF::Nr] = pMesh->nodes[v].mass.rotationalI2;
assert(std::pow(mSettings.Dtini, 2.0) * translationalSumSk assert(std::pow(mSettings.Dtini, 2.0) * translationalSumSk
/ pMesh->nodes[v].mass.translational / pMesh->nodes[v].mass.translational
< 2); < 2);
@ -1234,17 +1255,7 @@ void DRMSimulationModel::updateNodalAccelerations()
for (VertexType &v : pMesh->vert) { for (VertexType &v : pMesh->vert) {
Node &node = pMesh->nodes[v]; Node &node = pMesh->nodes[v];
const VertexIndex vi = pMesh->getIndex(v); const VertexIndex vi = pMesh->getIndex(v);
for (DoFType dofi = DoF::Ux; dofi < DoF::NumDoF; dofi++) { node.acceleration = node.force.residual / node.mass_6d;
if (dofi == DoF::Ux || dofi == DoF::Uy || dofi == DoF::Uz) {
node.acceleration[dofi] = node.force.residual[dofi] / node.mass.translational;
} else if (dofi == DoF::Nx) {
node.acceleration[dofi] = node.force.residual[dofi] / node.mass.rotationalJ;
} else if (dofi == DoF::Ny) {
node.acceleration[dofi] = node.force.residual[dofi] / node.mass.rotationalI3;
} else if (dofi == DoF::Nr) {
node.acceleration[dofi] = node.force.residual[dofi] / node.mass.rotationalI2;
}
}
#ifdef POLYSCOPE_DEFINED #ifdef POLYSCOPE_DEFINED
if (std::isnan(node.acceleration.norm())) { if (std::isnan(node.acceleration.norm())) {
std::cout << "acceleration " << vi << ":" << node.acceleration.toString() << std::endl; std::cout << "acceleration " << vi << ":" << node.acceleration.toString() << std::endl;
@ -1271,8 +1282,17 @@ void DRMSimulationModel::updateNodalVelocities()
std::cout << "Velocity " << vi << ":" << node.velocity.toString() << std::endl; std::cout << "Velocity " << vi << ":" << node.velocity.toString() << std::endl;
} }
#endif #endif
if (mSettings.useViscousDamping) {
const Vector6d massOverDt = node.mass_6d / Dt;
const Vector6d denominator = massOverDt + Vector6d(viscuousDampingConstant / 2);
const Vector6d firstTermNominator = massOverDt - Vector6d(viscuousDampingConstant / 2);
const Vector6d firstTerm = node.velocity * firstTermNominator / denominator;
const Vector6d secondTerm = node.force.residual / denominator;
node.velocity = firstTerm + secondTerm;
} else {
node.velocity = node.velocity + node.acceleration * Dt; node.velocity = node.velocity + node.acceleration * Dt;
} }
}
updateKineticEnergy(); updateKineticEnergy();
} }
@ -1328,7 +1348,7 @@ void DRMSimulationModel::updateNodeNr(VertexType &v)
{ {
const VertexIndex &vi = pMesh->nodes[v].vi; const VertexIndex &vi = pMesh->nodes[v].vi;
Node &node = pMesh->nodes[v]; Node &node = pMesh->nodes[v];
if (!rigidSupports.contains(vi)) { if (!isRigidSupport[vi]) {
node.nR = node.displacements[5]; node.nR = node.displacements[5];
} else { } else {
const EdgePointer &refElem = node.referenceElement; const EdgePointer &refElem = node.referenceElement;
@ -1509,11 +1529,11 @@ void DRMSimulationModel::resetVelocities()
{ {
for (const VertexType &v : pMesh->vert) { for (const VertexType &v : pMesh->vert) {
pMesh->nodes[v].velocity = pMesh->nodes[v].velocity =
// pMesh->nodes[v].acceleration // pMesh->nodes[v].acceleration * Dt
// * Dt; // NOTE: Do I reset the previous // * 0.5; // NOTE: Do I reset the previous
// velocity? // // velocity?
// reset // // reset
// current to 0 or this? // // current to 0 or this?
0; 0;
} }
updateKineticEnergy(); updateKineticEnergy();
@ -1616,7 +1636,7 @@ void DRMSimulationModel::updatePositionsOnTheFly(
VectorType newNormal(nx, ny, nz); VectorType newNormal(nx, ny, nz);
v.N() = newNormal; v.N() = newNormal;
} }
if (!rigidSupports.contains(vi)) { if (!isRigidSupport[vi]) {
node.nR = node.displacements[5]; node.nR = node.displacements[5];
} else { } else {
} }
@ -1650,15 +1670,18 @@ void DRMSimulationModel::printCurrentState() const
<< std::endl; << std::endl;
std::cout << "Kinetic energy:" << pMesh->currentTotalKineticEnergy << std::endl; std::cout << "Kinetic energy:" << pMesh->currentTotalKineticEnergy << std::endl;
static std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now(); static std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now();
const auto timePerNodePerIteration = std::chrono::duration_cast<std::chrono::microseconds>( const double timePerNodePerIteration = std::chrono::duration_cast<std::chrono::microseconds>(
std::chrono::steady_clock::now() - begin) std::chrono::steady_clock::now() - begin)
.count() .count()
* 1e-6 / (mCurrentSimulationStep * pMesh->VN()); * 1e-6
/ (static_cast<double>(mCurrentSimulationStep)
* pMesh->VN());
std::cout << "Total potential:" << pMesh->currentTotalPotentialEnergykN << " kNm" << std::endl; std::cout << "Total potential:" << pMesh->currentTotalPotentialEnergykN << " kNm" << std::endl;
std::cout << "time(s)/(iterations*node) = " << timePerNodePerIteration << std::endl; std::cout << "time(s)/(iterations*node) = " << timePerNodePerIteration << std::endl;
std::cout << "Mov aver deriv norm:" << pMesh->residualForcesMovingAverageDerivativeNorm std::cout << "Mov aver deriv norm:" << pMesh->residualForcesMovingAverageDerivativeNorm
<< std::endl; << std::endl;
std::cout << "xi:" << mSettings.xi << std::endl; std::cout << "xi:" << mSettings.xi << std::endl;
std::cout << "Dt:" << Dt << std::endl;
} }
void DRMSimulationModel::printDebugInfo() const void DRMSimulationModel::printDebugInfo() const
@ -1936,7 +1959,7 @@ void DRMSimulationModel::applySolutionGuess(const SimulationResults &solutionGue
node.displacements[5] = nr; node.displacements[5] = nr;
} }
// const double nr_asin = q_nr.x() // const double nr_asin = q_nr.x()
if (rigidSupports.contains(vi)) { if (isRigidSupport[vi]) {
const EdgePointer &refElem = node.referenceElement; const EdgePointer &refElem = node.referenceElement;
const VectorType &refT1 = computeT1Vector(refElem->cP(0), refElem->cP(1)); const VectorType &refT1 = computeT1Vector(refElem->cP(0), refElem->cP(1));
@ -2046,8 +2069,9 @@ SimulationResults DRMSimulationModel::executeSimulation(const std::shared_ptr<Si
} }
vcg::tri::UpdateBounding<SimulationMesh>::Box(*pMesh); vcg::tri::UpdateBounding<SimulationMesh>::Box(*pMesh);
computeRigidSupports(); computeRigidSupports();
isVertexConstrained.resize(pMesh->VN(), false);
for (auto fixedVertex : pJob->constrainedVertices) { for (auto fixedVertex : pJob->constrainedVertices) {
assert(fixedVertex.first < pMesh->VN()); isVertexConstrained[fixedVertex.first] = true;
} }
#ifdef POLYSCOPE_DEFINED #ifdef POLYSCOPE_DEFINED
@ -2058,7 +2082,8 @@ SimulationResults DRMSimulationModel::executeSimulation(const std::shared_ptr<Si
pMesh->getEigenEdges()); pMesh->getEigenEdges());
polyscope::registerCurveNetwork("Initial_" + meshPolyscopeLabel, polyscope::registerCurveNetwork("Initial_" + meshPolyscopeLabel,
pMesh->getEigenVertices(), pMesh->getEigenVertices(),
pMesh->getEigenEdges()); pMesh->getEigenEdges())
->setRadius(0.002);
// registerWorldAxes(); // registerWorldAxes();
} }
#endif #endif
@ -2120,9 +2145,9 @@ SimulationResults DRMSimulationModel::executeSimulation(const std::shared_ptr<Si
// pJob->save("./PatternOptimizationNonConv"); // pJob->save("./PatternOptimizationNonConv");
// Dt = mSettings.Dtini; // Dt = mSettings.Dtini;
} }
if (mCurrentSimulationStep == 500 && shouldTemporarilyDampForces) { // if (mCurrentSimulationStep == 500 && shouldTemporarilyDampForces) {
Dt = mSettings.Dtini; // Dt = mSettings.Dtini;
} // }
// while (true) { // while (true) {
updateNormalDerivatives(); updateNormalDerivatives();
updateT1Derivatives(); updateT1Derivatives();
@ -2208,19 +2233,19 @@ SimulationResults DRMSimulationModel::executeSimulation(const std::shared_ptr<Si
// = std::chrono::duration_cast<std::chrono::minutes>(t2 - beginTime).count(); // = std::chrono::duration_cast<std::chrono::minutes>(t2 - beginTime).count();
// std::cout << "Execution time(min):" << executionTime_min << std::endl; // std::cout << "Execution time(min):" << executionTime_min << std::endl;
if (mSettings.useAverage) { if (mSettings.useAverage) {
std::cout << "Percentage of target (average):" std::cout << "Best percentage of target (average):"
<< 100 * mSettings.averageResidualForcesCriterionThreshold << 100 * mSettings.averageResidualForcesCriterionThreshold
* totalExternalForcesNorm * totalExternalForcesNorm
/ (pMesh->totalResidualForcesNorm / pMesh->VN()) / (minTotalResidualForcesNorm / pMesh->VN())
<< "%" << std::endl; << "%" << std::endl;
} }
std::cout << "Percentage of target:" std::cout << "Best percentage of target:"
<< 100 * mSettings.totalExternalForcesNormPercentageTermination << 100 * mSettings.totalExternalForcesNormPercentageTermination
* totalExternalForcesNorm / pMesh->totalResidualForcesNorm * totalExternalForcesNorm / minTotalResidualForcesNorm
<< "%" << std::endl; << "%" << std::endl;
SimulationResultsReporter::createPlot("Number of Steps", // SimulationResultsReporter::createPlot("Number of Steps",
"Residual Forces mov aver", // "Residual Forces mov aver",
history.residualForcesMovingAverage); // history.residualForcesMovingAverage);
// SimulationResultsReporter::createPlot("Number of Steps", // SimulationResultsReporter::createPlot("Number of Steps",
// "Residual Forces mov aver deriv", // "Residual Forces mov aver deriv",
// movingAveragesDerivatives); // movingAveragesDerivatives);
@ -2297,8 +2322,18 @@ currentSimulationStep > maxDRMIterations*/
// << std::endl; // << std::endl;
// std::cout << "Residual forces norm:" << mesh.totalResidualForcesNorm // std::cout << "Residual forces norm:" << mesh.totalResidualForcesNorm
// << std::endl; // << std::endl;
const bool fullfillsResidualForcesNormTerminationCriterion
= !mSettings.useAverage
&& pMesh->totalResidualForcesNorm / totalExternalForcesNorm
< mSettings.totalExternalForcesNormPercentageTermination;
const bool fullfillsAverageResidualForcesNormTerminationCriterion
= mSettings.useAverage
&& (pMesh->totalResidualForcesNorm / pMesh->VN()) / totalExternalForcesNorm
< mSettings.averageResidualForcesCriterionThreshold;
// Residual forces norm convergence // Residual forces norm convergence
if ((pMesh->previousTotalKineticEnergy > pMesh->currentTotalKineticEnergy if (((pMesh->previousTotalKineticEnergy > pMesh->currentTotalKineticEnergy
|| fullfillsAverageResidualForcesNormTerminationCriterion
|| fullfillsResidualForcesNormTerminationCriterion)
// && mCurrentSimulationStep > movingAverageSampleSize // && mCurrentSimulationStep > movingAverageSampleSize
&& (pJob->nodalForcedDisplacements.empty() && (pJob->nodalForcedDisplacements.empty()
|| mCurrentSimulationStep > mSettings.gradualForcedDisplacementSteps)) || mCurrentSimulationStep > mSettings.gradualForcedDisplacementSteps))
@ -2314,13 +2349,6 @@ mesh->currentTotalPotentialEnergykN*/
&& pMesh->currentTotalTranslationalKineticEnergy && pMesh->currentTotalTranslationalKineticEnergy
< mSettings.totalTranslationalKineticEnergyThreshold < mSettings.totalTranslationalKineticEnergyThreshold
&& mCurrentSimulationStep > 20 && numOfDampings > 0; && mCurrentSimulationStep > 20 && numOfDampings > 0;
const bool fullfillsResidualForcesNormTerminationCriterion
= pMesh->totalResidualForcesNorm / totalExternalForcesNorm
< mSettings.totalExternalForcesNormPercentageTermination;
const bool fullfillsAverageResidualForcesNormTerminationCriterion
= mSettings.useAverage
&& (pMesh->totalResidualForcesNorm / pMesh->VN()) / totalExternalForcesNorm
< mSettings.averageResidualForcesCriterionThreshold;
const bool fullfillsMovingAverageNormTerminationCriterion const bool fullfillsMovingAverageNormTerminationCriterion
= pMesh->residualForcesMovingAverage = pMesh->residualForcesMovingAverage
< mSettings.residualForcesMovingAverageNormThreshold; < mSettings.residualForcesMovingAverageNormThreshold;
@ -2341,7 +2369,7 @@ mesh->currentTotalPotentialEnergykN*/
std::cout << "Converged using residual forces norm threshold criterion" std::cout << "Converged using residual forces norm threshold criterion"
<< std::endl; << std::endl;
} else if (fullfillsKineticEnergyTerminationCriterion) { } else if (fullfillsKineticEnergyTerminationCriterion) {
std::cout << "Warning: The kinetic energy of the system was " std::cout << "The kinetic energy of the system was "
" used as a convergence criterion" " used as a convergence criterion"
<< std::endl; << std::endl;
} else if (fullfillsMovingAverageNormTerminationCriterion) { } else if (fullfillsMovingAverageNormTerminationCriterion) {
@ -2377,25 +2405,25 @@ mesh->currentTotalPotentialEnergykN*/
// } // }
} }
// const bool shouldCapDisplacements = mSettings.displacementCap.has_value(); const bool shouldCapDisplacements = mSettings.displacementCap.has_value();
// for (VertexType &v : pMesh->vert) { for (VertexType &v : pMesh->vert) {
// Node &node = pMesh->nodes[v]; Node &node = pMesh->nodes[v];
// Vector6d stepDisplacement = node.velocity * Dt; Vector6d stepDisplacement = node.velocity * 0.5 * Dt;
// if (shouldCapDisplacements if (shouldCapDisplacements
// && stepDisplacement.getTranslation().norm() > mSettings.displacementCap) { && stepDisplacement.getTranslation().norm() > mSettings.displacementCap) {
// stepDisplacement = stepDisplacement stepDisplacement = stepDisplacement
// * (*mSettings.displacementCap * (*mSettings.displacementCap
// / stepDisplacement.getTranslation().norm()); / stepDisplacement.getTranslation().norm());
// } }
// node.displacements = node.displacements - stepDisplacement; node.displacements = node.displacements - stepDisplacement;
// } }
// applyDisplacements(constrainedVertices); applyDisplacements(constrainedVertices);
// if (!pJob->nodalForcedDisplacements.empty()) { if (!pJob->nodalForcedDisplacements.empty()) {
// applyForcedDisplacements( applyForcedDisplacements(
// pJob->nodalForcedDisplacements); pJob->nodalForcedDisplacements);
// } }
// updateElementalLengths(); updateElementalLengths();
// const double triggerPercentage = 0.01; // const double triggerPercentage = 0.01;
// const double xi_min = 0.55; // const double xi_min = 0.55;
@ -2408,11 +2436,11 @@ mesh->currentTotalPotentialEnergykN*/
// + xi_init - triggerPercentage * xi_min) // + xi_init - triggerPercentage * xi_min)
// / (1 - triggerPercentage); // / (1 - triggerPercentage);
// } // }
resetVelocities();
Dt *= mSettings.xi; Dt *= mSettings.xi;
// if (mSettings.isDebugMode) { // if (mSettings.isDebugMode) {
// std::cout << Dt << std::endl; // std::cout << Dt << std::endl;
// } // }
resetVelocities();
++numOfDampings; ++numOfDampings;
if (mSettings.shouldCreatePlots) { if (mSettings.shouldCreatePlots) {
history.redMarks.push_back(mCurrentSimulationStep); history.redMarks.push_back(mCurrentSimulationStep);

13
drmsimulationmodel.hpp
View File

@ -45,8 +45,9 @@ public:
double totalResidualForcesNormThreshold{1e-3}; double totalResidualForcesNormThreshold{1e-3};
double totalExternalForcesNormPercentageTermination{1e-3}; double totalExternalForcesNormPercentageTermination{1e-3};
bool useAverage{false}; bool useAverage{false};
double averageResidualForcesCriterionThreshold{1e-3}; double averageResidualForcesCriterionThreshold{1e-5};
Settings() {} Settings() {}
bool useViscousDamping{false};
}; };
private: private:
@ -61,6 +62,10 @@ private:
std::vector<double> plotYValues; std::vector<double> plotYValues;
size_t numOfDampings{0}; size_t numOfDampings{0};
int externalLoadStep{1}; int externalLoadStep{1};
const double viscuousDampingConstant{0.01};
std::vector<bool> isVertexConstrained;
std::vector<bool> isRigidSupport;
double minTotalResidualForcesNorm{std::numeric_limits<double>::max()};
const std::string meshPolyscopeLabel{"Simulation mesh"}; const std::string meshPolyscopeLabel{"Simulation mesh"};
std::unique_ptr<SimulationMesh> pMesh; std::unique_ptr<SimulationMesh> pMesh;
@ -69,7 +74,6 @@ private:
// Eigen::Tensor<double, 4> theta3Derivatives; // Eigen::Tensor<double, 4> theta3Derivatives;
// std::unordered_map<MyKeyType, double, key_hash> theta3Derivatives; // std::unordered_map<MyKeyType, double, key_hash> theta3Derivatives;
bool shouldApplyInitialDistortion = false; bool shouldApplyInitialDistortion = false;
std::unordered_set<VertexIndex> rigidSupports;
void reset(); void reset();
void updateNodalInternalForces( void updateNodalInternalForces(
@ -156,10 +160,9 @@ private:
void updateElementalFrames(); void updateElementalFrames();
VectorType computeDerivativeOfR(const EdgeType &e, VectorType computeDerivativeOfR(const EdgeType &e, const DifferentiateWithRespectTo &dui) const;
const DifferentiateWithRespectTo &dui) const;
bool isRigidSupport(const VertexType &v) const; // bool isRigidSupport(const VertexType &v) const;
static double computeDerivativeOfNorm(const VectorType &x, static double computeDerivativeOfNorm(const VectorType &x,
const VectorType &derivativeOfX); const VectorType &derivativeOfX);

8
simulationmesh.cpp
View File

@ -140,6 +140,7 @@ void SimulationMesh::initializeNodes() {
const EdgeType &referenceElement = *node.referenceElement; const EdgeType &referenceElement = *node.referenceElement;
const VectorType t01 = computeT1Vector(referenceElement.cP(0), referenceElement.cP(1)); const VectorType t01 = computeT1Vector(referenceElement.cP(0), referenceElement.cP(1));
const VectorType f01 = (t01 - (v.cN() * (t01.dot(v.cN())))).Normalize(); const VectorType f01 = (t01 - (v.cN() * (t01.dot(v.cN())))).Normalize();
node.alphaAngles.reserve(incidentElements.size());
for (const VCGEdgeMesh::EdgePointer &ep : nodes[v].incidentElements) { for (const VCGEdgeMesh::EdgePointer &ep : nodes[v].incidentElements) {
assert(referenceElement.cV(0) == ep->cV(0) || referenceElement.cV(0) == ep->cV(1) assert(referenceElement.cV(0) == ep->cV(0) || referenceElement.cV(0) == ep->cV(1)
@ -148,7 +149,7 @@ void SimulationMesh::initializeNodes() {
const VectorType f1 = t1 - (v.cN() * (t1.dot(v.cN()))).Normalize(); const VectorType f1 = t1 - (v.cN() * (t1.dot(v.cN()))).Normalize();
const EdgeIndex ei = getIndex(ep); const EdgeIndex ei = getIndex(ep);
const double alphaAngle = computeAngle(f01, f1, v.cN()); const double alphaAngle = computeAngle(f01, f1, v.cN());
node.alphaAngles[ei] = alphaAngle; node.alphaAngles.emplace_back(std::make_pair(ei, alphaAngle));
} }
} }
} }
@ -182,7 +183,8 @@ void SimulationMesh::reset() {
const EdgeType &referenceElement = *getReferenceElement(v); const EdgeType &referenceElement = *getReferenceElement(v);
const VectorType t01 = computeT1Vector(referenceElement.cP(0), referenceElement.cP(1)); const VectorType t01 = computeT1Vector(referenceElement.cP(0), referenceElement.cP(1));
const VectorType f01 = (t01 - (v.cN() * (t01.dot(v.cN())))).Normalize(); const VectorType f01 = (t01 - (v.cN() * (t01.dot(v.cN())))).Normalize();
node.alphaAngles.clear();
node.alphaAngles.reserve(node.incidentElements.size());
for (const VCGEdgeMesh::EdgePointer &ep : nodes[v].incidentElements) { for (const VCGEdgeMesh::EdgePointer &ep : nodes[v].incidentElements) {
assert(referenceElement.cV(0) == ep->cV(0) || referenceElement.cV(0) == ep->cV(1) assert(referenceElement.cV(0) == ep->cV(0) || referenceElement.cV(0) == ep->cV(1)
|| referenceElement.cV(1) == ep->cV(0) || referenceElement.cV(1) == ep->cV(1)); || referenceElement.cV(1) == ep->cV(0) || referenceElement.cV(1) == ep->cV(1));
@ -190,7 +192,7 @@ void SimulationMesh::reset() {
const VectorType f1 = t1 - (v.cN() * (t1.dot(v.cN()))).Normalize(); const VectorType f1 = t1 - (v.cN() * (t1.dot(v.cN()))).Normalize();
const EdgeIndex ei = getIndex(ep); const EdgeIndex ei = getIndex(ep);
const double alphaAngle = computeAngle(f01, f1, v.cN()); const double alphaAngle = computeAngle(f01, f1, v.cN());
node.alphaAngles[ei] = alphaAngle; node.alphaAngles.emplace_back(std::make_pair(ei, alphaAngle));
} }
} }
} }

10
simulationmesh.hpp
View File

@ -148,6 +148,7 @@ struct Node {
}; };
Mass mass; Mass mass;
Vector6d mass_6d;
VertexIndex vi; VertexIndex vi;
CoordType initialLocation; CoordType initialLocation;
CoordType initialNormal; CoordType initialNormal;
@ -157,10 +158,11 @@ struct Node {
double kineticEnergy{0}; double kineticEnergy{0};
Vector6d displacements{0}; Vector6d displacements{0};
double nR{0}; double nR{0};
std::unordered_map<EdgeIndex, double> // std::unordered_map<EdgeIndex, double>
alphaAngles; // contains the initial angles between the first star element // alphaAngles; // contains the initial angles between the first star element
// incident to this node and the other elements of the star // // incident to this node and the other elements of the star
// has size equal to the valence of the vertex // // has size equal to the valence of the vertex
std::vector<std::pair<EdgeIndex, double>> alphaAngles;
std::vector<VCGEdgeMesh::EdgePointer> incidentElements; std::vector<VCGEdgeMesh::EdgePointer> incidentElements;
std::vector<VectorType> derivativeOfNormal; std::vector<VectorType> derivativeOfNormal;

9
utilities.hpp
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@ -57,6 +57,15 @@ struct Vector6d : public std::array<double, 6> {
return result; return result;
} }
Vector6d operator/(const Vector6d &v) const
{
Vector6d result;
for (size_t i = 0; i < 6; i++) {
result[i] = this->operator[](i) / v[i];
}
return result;
}
Vector6d operator+(const Vector6d &v) const { Vector6d operator+(const Vector6d &v) const {
Vector6d result; Vector6d result;
for (size_t i = 0; i < 6; i++) { for (size_t i = 0; i < 6; i++) {