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#include "chronoseulersimulationmodel.hpp"
#include <chrono/fea/ChBeamSectionEuler.h>
#include <chrono/fea/ChBuilderBeam.h>
#include <chrono/fea/ChLoadsBeam.h>
#include <chrono/fea/ChMesh.h>
#include <chrono/fea/ChNodeFEAxyzrot.h>
#include <chrono/physics/ChBody.h>
#include <chrono/physics/ChSystemSMC.h>
#include <chrono/solver/ChIterativeSolverLS.h>
#include "chrono/physics/ChLoadContainer.h"
#include <chrono/assets/ChVisualization.h>
#include <chrono/fea/ChElementBeamEuler.h>
#include <chrono/fea/ChVisualizationFEAmesh.h>
using namespace chrono;
using namespace chrono::fea;
std::shared_ptr<ChMesh> ChronosEulerSimulationModel::convertToChronosMesh_Euler(
const std::shared_ptr<SimulationEdgeMesh>& pMesh,
std::vector<std::shared_ptr<ChNodeFEAxyzrot>>&
edgeMeshVertsToChronosNodes) {
auto mesh_chronos = chrono_types::make_shared<ChMesh>();
edgeMeshVertsToChronosNodes.clear();
edgeMeshVertsToChronosNodes.resize(pMesh->VN(), nullptr);
// add nodes
for (int vi = 0; vi < pMesh->VN(); vi++) {
const auto& vertex = pMesh->vert[vi];
ChVector<> vertexPos(vertex.cP()[0], vertex.cP()[1], vertex.cP()[2]);
edgeMeshVertsToChronosNodes[vi] =
chrono_types::make_shared<ChNodeFEAxyzrot>(ChFrame<>(vertexPos));
mesh_chronos->AddNode(edgeMeshVertsToChronosNodes[vi]);
}
// add elements
ChBuilderBeamEuler builder;
for (int ei = 0; ei < pMesh->EN(); ei++) {
const SimulationEdgeMesh::EdgeType& edge = pMesh->edge[ei];
// define end-points
const auto vi0 = pMesh->getIndex(edge.cV(0));
const auto vi1 = pMesh->getIndex(edge.cV(1));
// define cross section
const Element& element = pMesh->elements[ei];
const double beam_wz = element.dimensions.getDim1();
const double beam_wy = element.dimensions.getDim2();
const double E = element.material.youngsModulus;
// const double poisson = element.material.poissonsRatio;
const double density = 1e0;
// auto msection =
// chrono_types::make_shared<ChBeamSectionEulerAdvanced>();
auto msection =
chrono_types::make_shared<ChBeamSectionEulerEasyRectangular>(
beam_wy, beam_wz, E, element.material.G, density);
msection->SetArea(element.dimensions.A);
msection->SetIyy(element.dimensions.inertia.I2);
msection->SetIzz(element.dimensions.inertia.I3);
msection->SetJ(element.dimensions.inertia.J);
// msection->SetDensity(density);
// msection->SetYoungModulus(E);
// msection->SetGwithPoissonRatio(poisson);
// // msection->SetBeamRaleyghDamping(0.0);
// msection->SetAsRectangularSection(beam_wy, beam_wz);
builder.BuildBeam(
mesh_chronos, // the mesh where to put the created nodes and elements
msection, // the ChBeamSectionEuler to use for the ChElementBeamEuler
// elements
1, // the number of ChElementBeamEuler to create
edgeMeshVertsToChronosNodes[vi0], // the 'A' point in space (beginning
// of beam)
edgeMeshVertsToChronosNodes[vi1], // the 'B' point in space (end of
// beam)
ChVector<>(0, 0, 1)
// ChVector<>(0, cos(rot_rad), sin(rot_rad))
); // the 'Y' up direction of the section for the beam
}
return mesh_chronos;
}
ChronosEulerSimulationModel::ChronosEulerSimulationModel() {}
// SimulationResults ChronosEulerSimulationModel::executeSimulation(
// const std::shared_ptr<SimulationJob> &pJob)
//{}
// chrono::ChSystemSMC convertToChronosSystem(const
// std::shared_ptr<SimulationJob> &pJob)
//{
// chrono::ChSystemSMC my_system;
//}
void ChronosEulerSimulationModel::parseForces(
const std::shared_ptr<chrono::fea::ChMesh>& mesh_chronos,
const std::vector<std::shared_ptr<chrono::fea::ChNodeFEAxyzrot>>&
edgeMeshVertsToChronoNodes,
const std::unordered_map<VertexIndex, Vector6d>& nodalExternalForces) {
mesh_chronos->SetAutomaticGravity(false);
for (const std::pair<VertexIndex, Vector6d>& externalForce :
nodalExternalForces) {
const int& forceVi = externalForce.first;
const Vector6d& force = externalForce.second;
edgeMeshVertsToChronoNodes[forceVi]->SetForce(
ChVector<>(force[0], force[1], force[2]));
edgeMeshVertsToChronoNodes[forceVi]->SetTorque(
ChVector<>(force[3], force[4], force[5]));
}
}
void ChronosEulerSimulationModel::parseForcedDisplacements(
const std::shared_ptr<const SimulationJob>& pJob,
const std::vector<std::shared_ptr<chrono::fea::ChNodeFEAxyzrot>>&
edgeMeshVertsToChronoNodes,
chrono::ChSystemSMC& my_system) {
assert(!edgeMeshVertsToChronoNodes.empty());
ChState x;
ChStateDelta v;
double t;
for (const std::pair<VertexIndex, Eigen::Vector3d>& forcedDisplacement :
pJob->nodalForcedDisplacements) {
assert(false);
std::cerr << "Forced displacements dont work" << std::endl;
// std::terminate();
const int& constrainedVi = forcedDisplacement.first;
ChVector<double> displacementVector(
pJob->nodalForcedDisplacements.at(constrainedVi));
const std::shared_ptr<chrono::fea::ChNodeFEAxyzrot>& constrainedChronoNode =
edgeMeshVertsToChronoNodes[constrainedVi];
constrainedChronoNode->NodeIntStateGather(0, x, 0, v, t);
std::cout << "state rows:" << x.rows() << std::endl;
std::cout << "state cols:" << x.cols() << std::endl;
// x = x + displacementVector;
constrainedChronoNode->NodeIntStateScatter(0, x, 0, v, t);
}
}
void ChronosEulerSimulationModel::parseConstrainedVertices(
const std::shared_ptr<const SimulationJob>& pJob,
const std::vector<std::shared_ptr<chrono::fea::ChNodeFEAxyzrot>>&
edgeMeshVertsToChronoNodes,
chrono::ChSystemSMC& my_system) {
assert(!edgeMeshVertsToChronoNodes.empty());
for (const std::pair<VertexIndex, std::unordered_set<int>>&
constrainedVertex : pJob->constrainedVertices) {
const int& constrainedVi = constrainedVertex.first;
const std::unordered_set<int>& constrainedDoF = constrainedVertex.second;
// Create a truss
auto truss = chrono_types::make_shared<ChBody>();
truss->SetBodyFixed(true);
my_system.Add(truss);
const std::shared_ptr<chrono::fea::ChNodeFEAxyzrot>& constrainedChronoNode =
edgeMeshVertsToChronoNodes[constrainedVi];
auto constraint = chrono_types::make_shared<ChLinkMateGeneric>();
constraint->SetConstrainedCoords(
constrainedDoF.contains(0), constrainedDoF.contains(1),
constrainedDoF.contains(2), constrainedDoF.contains(3),
constrainedDoF.contains(4), constrainedDoF.contains(5));
constraint->Initialize(constrainedChronoNode, truss, false,
constrainedChronoNode->Frame(),
constrainedChronoNode->Frame());
my_system.Add(constraint);
}
}
SimulationResults ChronosEulerSimulationModel::executeSimulation(
const std::shared_ptr<SimulationJob>& pJob) {
assert(pJob->pMesh->VN() != 0);
// const bool structureInitialized = mesh_chronos != nullptr;
// const bool wasInitializedWithDifferentStructure =
// structureInitialized &&
// (pJob->pMesh->EN() != mesh_chronos->GetNelements() ||
// pJob->pMesh->VN() != mesh_chronos->GetNnodes());
// if (!structureInitialized || wasInitializedWithDifferentStructure) {
setStructure(pJob->pMesh);
// }
chrono::ChSystemSMC my_system;
// chrono::irrlicht::ChIrrApp application(&my_system,
// L"Irrlicht FEM visualization",
// irr::core::dimension2d<irr::u32>(800,
// 600),
// chrono::irrlicht::VerticalDir::Z,
// false,
// true);
// const std::string chronoDataFolderPath =
// "/home/iason/Coding/build/external "
// "dependencies/CHRONO-src/data/";
// application.AddTypicalLogo(chronoDataFolderPath +
// "logo_chronoengine_alpha.png");
// application.AddTypicalSky(chronoDataFolderPath + "skybox/");
// application.AddTypicalLights();
// application.AddTypicalCamera(irr::core::vector3df(0, (irr::f32) 0.6,
// -1));
// my_system.SetTimestepperType(chrono::ChTimestepper::Type::EULER_IMPLICIT_LINEARIZED);
// parse forces
parseForcedDisplacements(pJob, edgeMeshVertsToChronoNodes, my_system);
parseForces(mesh_chronos, edgeMeshVertsToChronoNodes,
pJob->nodalExternalForces);
// parse constrained vertices
parseConstrainedVertices(pJob, edgeMeshVertsToChronoNodes, my_system);
// std::dynamic_pointer_cast<std::shared_ptr<ChNodeFEAxyzrot>>(mesh_chronos->GetNode(1))
// ->SetFixed(true);
// and load containers must be added to your system
// auto mvisualizemesh =
// chrono_types::make_shared<ChVisualizationFEAmesh>(*(mesh_chronos.get()));
// mvisualizemesh->SetFEMdataType(ChVisualizationFEAmesh::E_PLOT_NODE_DISP_NORM);
// mvisualizemesh->SetColorscaleMinMax(0.0, 5.50);
// mvisualizemesh->SetShrinkElements(false, 0.85);
// mvisualizemesh->SetSmoothFaces(false);
// mesh_chronos->AddAsset(mvisualizemesh);
// application.AssetBindAll();
// application.AssetUpdateAll();
my_system.Add(mesh_chronos);
auto solver = chrono_types::make_shared<ChSolverMINRES>();
my_system.SetSolver(solver);
solver->SetMaxIterations(1e5);
solver->EnableWarmStart(
true); // IMPORTANT for convergence when using EULER_IMPLICIT_LINEARIZED
solver->EnableDiagonalPreconditioner(true);
// solver->SetTolerance(1e-15);
my_system.SetSolverForceTolerance(1e-15);
SimulationResults simulationResults;
//#ifdef POLYSCOPE_DEFINED
// solver->SetVerbose(true);
// // edgeMeshVertsToChronoNodes[10]->Frame().Move({0, 0, 1e-1});
// simulationResults.converged = my_system.DoEntireKinematics(5e2);
//// edgeMeshVertsToChronoNodes[10]->SetForce({0, 0, 1e6});
//#else
solver->SetVerbose(false);
if (settings.analysisType == Settings::AnalysisType::Linear) {
simulationResults.converged = my_system.DoStaticLinear();
// simulationResults.converged = my_system.DoStaticRelaxing();
} else {
simulationResults.converged = my_system.DoStaticNonlinear();
// simulationResults.converged = my_system.DoStaticRelaxing();
}
//#endif
if (!simulationResults.converged) {
std::cerr << "Simulation failed" << std::endl;
assert(false);
return simulationResults;
}
// my_system.SetTimestepperType(ChTimestepper::Type::EULER_IMPLICIT_LINEARIZED);
// application.SetTimestep(0.001);
// while (application.GetDevice()->run()) {
// application.BeginScene();
// application.DrawAll();
// application.EndScene();
// }
simulationResults.pJob = pJob;
simulationResults.displacements.resize(pJob->pMesh->VN());
simulationResults.rotationalDisplacementQuaternion.resize(pJob->pMesh->VN());
for (size_t vi = 0; vi < pJob->pMesh->VN(); vi++) {
const auto node_chronos = edgeMeshVertsToChronoNodes[vi];
const auto posDisplacement =
node_chronos->Frame().GetPos() - node_chronos->GetX0().GetPos();
// std::cout << "Node " << vi << " coordinate x= " <<
// node_chronos->Frame().GetPos().x()
// << " y=" << node_chronos->Frame().GetPos().y()
// << " z=" << node_chronos->Frame().GetPos().z() <<
// "\n";
// Translations
simulationResults.displacements[vi][0] = posDisplacement[0];
simulationResults.displacements[vi][1] = posDisplacement[1];
simulationResults.displacements[vi][2] = posDisplacement[2];
// Rotations
chrono::ChQuaternion<double> rotQuat = node_chronos->GetRot();
simulationResults.rotationalDisplacementQuaternion[vi] =
Eigen::Quaternion<double>(rotQuat.e0(), rotQuat.e1(), rotQuat.e2(),
rotQuat.e3());
const Eigen::Vector3d eulerAngles =
simulationResults.rotationalDisplacementQuaternion[vi]
.toRotationMatrix()
.eulerAngles(0, 1, 2);
// std::cout << "Euler angles:" << eulerAngles << std::endl;
simulationResults.displacements[vi][3] = eulerAngles[0];
simulationResults.displacements[vi][4] = eulerAngles[1];
simulationResults.displacements[vi][5] = eulerAngles[2];
}
simulationResults.simulationModelUsed = label;
return simulationResults;
// VCGEdgeMesh deformedMesh;
// deformedMesh.copy(*(pJob->pMesh));
// for (size_t vi = 0; vi < pJob->pMesh->VN(); vi++) {
// const std::shared_ptr<ChNodeFEAxyzrot> node_chronos =
// edgeMeshVertsToChronosNodes[vi]; deformedMesh.vert[vi].P() =
// CoordType(node_chronos->GetPos()[0],
// node_chronos->GetPos()[1],
// node_chronos->GetPos()[2]);
// }
// deformedMesh.updateEigenEdgeAndVertices();
// deformedMesh.setLabel("deformed");
// deformedMesh.registerForDrawing();
// polyscope::show();
// return simulationResults;
}
void ChronosEulerSimulationModel::setStructure(
const std::shared_ptr<SimulationEdgeMesh>& pMesh) {
mesh_chronos = convertToChronosMesh_Euler(pMesh, edgeMeshVertsToChronoNodes);
}
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