301 lines
15 KiB
C++
301 lines
15 KiB
C++
#include "chronosigasimulationmodel.hpp"
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#include "chrono/physics/ChLoadContainer.h"
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#include <chrono/fea/ChBeamSectionEuler.h>
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#include <chrono/fea/ChBuilderBeam.h>
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#include <chrono/fea/ChLoadsBeam.h>
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#include <chrono/fea/ChMesh.h>
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#include <chrono/fea/ChNodeFEAxyzrot.h>
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#include <chrono/physics/ChBody.h>
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#include <chrono/physics/ChSystemSMC.h>
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#include <chrono/solver/ChIterativeSolverLS.h>
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#include <chrono/assets/ChVisualization.h>
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#include <chrono/fea/ChElementBeamEuler.h>
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#include <chrono/fea/ChVisualizationFEAmesh.h>
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using namespace chrono;
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using namespace chrono::fea;
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std::shared_ptr<ChMesh> ChronosIGASimulationModel::convertToChronosMesh_IGA(
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const std::shared_ptr<SimulationEdgeMesh> &pMesh,
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std::vector<std::shared_ptr<ChNodeFEAxyzrot>> &edgeMeshVertsToChronosNodes)
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{
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auto mesh_chronos = chrono_types::make_shared<ChMesh>();
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edgeMeshVertsToChronosNodes.clear();
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edgeMeshVertsToChronosNodes.resize(pMesh->VN(), nullptr);
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//add nodes
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for (int vi = 0; vi < pMesh->VN(); vi++) {
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const auto &vertex = pMesh->vert[vi];
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ChVector<> vertexPos(vertex.cP()[0], vertex.cP()[1], vertex.cP()[2]);
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edgeMeshVertsToChronosNodes[vi] = chrono_types::make_shared<ChNodeFEAxyzrot>(
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ChFrame<>(vertexPos));
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mesh_chronos->AddNode(edgeMeshVertsToChronosNodes[vi]);
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}
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//add elements
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ChBuilderBeamIGA builder;
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for (int ei = 0; ei < pMesh->EN(); ei++) {
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const SimulationEdgeMesh::EdgeType &edge = pMesh->edge[ei];
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//define end-points
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const auto vi0 = pMesh->getIndex(edge.cV(0));
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const auto vi1 = pMesh->getIndex(edge.cV(1));
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//define cross section
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const Element &element = pMesh->elements[ei];
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const double beam_wz = element.dimensions.getDim1();
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const double beam_wy = element.dimensions.getDim2();
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const double E = element.material.youngsModulus;
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// const double poisson = element.material.poissonsRatio;
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const double density = 1e0;
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// auto msection = chrono_types::make_shared<ChBeamSectionEulerAdvanced>();
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auto msection = chrono_types::make_shared<ChBeamSectionCosseratEasyRectangular>(
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beam_wy, beam_wz, E, element.material.G, density);
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// msection->SetDensity(density);
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// msection->SetYoungModulus(E);
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// msection->SetGwithPoissonRatio(poisson);
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// // msection->SetBeamRaleyghDamping(0.0);
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// msection->SetAsRectangularSection(beam_wy, beam_wz);
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builder
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.BuildBeam(mesh_chronos, // the mesh where to put the created nodes and elements
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msection, // the ChBeamSectionEuler to use for the ChElementBeamEuler elements
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1, // the number of ChElementBeamEuler to create
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edgeMeshVertsToChronosNodes[vi0], // the 'A' point in space (beginning of beam)
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edgeMeshVertsToChronosNodes[vi1], // the 'B' point in space (end of beam)
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ChVector<>(0, 0, 1),
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3
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// ChVector<>(0, cos(rot_rad), sin(rot_rad))
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); // the 'Y' up direction of the section for the beam
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const auto lastBeamNodesVector = builder.GetLastBeamNodes();
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// assert(lastBeamNodesVector.size() == 4);
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edgeMeshVertsToChronosNodes[vi0] = std::dynamic_pointer_cast<ChNodeFEAxyzrot>(
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mesh_chronos->GetNode(mesh_chronos->GetNnodes() - lastBeamNodesVector.size()));
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edgeMeshVertsToChronosNodes[vi1] = std::dynamic_pointer_cast<ChNodeFEAxyzrot>(
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mesh_chronos->GetNode(mesh_chronos->GetNnodes() - 1));
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// std::cout << edgeMeshVertsToChronosNodes[vi1]->GetCoord().pos[0] << " "
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// << edgeMeshVertsToChronosNodes[vi1]->GetCoord().pos[1] << " "
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// << edgeMeshVertsToChronosNodes[vi1]->GetCoord().pos[2] << std::endl;
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// std::cout << lastBeamNodesVector.back()->GetCoord().pos[0] << " "
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// << lastBeamNodesVector.back()->GetCoord().pos[1] << " "
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// << lastBeamNodesVector.back()->GetCoord().pos[2] << std::endl;
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// int i = 0;
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// i++;
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}
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return mesh_chronos;
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}
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//SimulationResults ChronosEulerSimulationModel::executeSimulation(
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// const std::shared_ptr<SimulationJob> &pJob)
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//{}
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//chrono::ChSystemSMC convertToChronosSystem(const std::shared_ptr<SimulationJob> &pJob)
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//{
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// chrono::ChSystemSMC my_system;
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//}
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void ChronosIGASimulationModel::parseForces(
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const std::shared_ptr<chrono::fea::ChMesh> &mesh_chronos,
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const std::vector<std::shared_ptr<chrono::fea::ChNodeFEAxyzrot>> &edgeMeshVertsToChronoNodes,
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const std::unordered_map<VertexIndex, Vector6d> &nodalExternalForces)
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{
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mesh_chronos->SetAutomaticGravity(false);
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for (const std::pair<VertexIndex, Vector6d> &externalForce : nodalExternalForces) {
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const int &forceVi = externalForce.first;
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const Vector6d &force = externalForce.second;
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edgeMeshVertsToChronoNodes[forceVi]->SetForce(ChVector<>(force[0], force[1], force[2]));
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edgeMeshVertsToChronoNodes[forceVi]->SetTorque(ChVector<>(force[3], force[4], force[5]));
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std::cout << "Force on vertex:" << std::endl;
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std::cout << edgeMeshVertsToChronoNodes[forceVi]->GetCoord().pos[0] << " "
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<< edgeMeshVertsToChronoNodes[forceVi]->GetCoord().pos[1] << " "
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<< edgeMeshVertsToChronoNodes[forceVi]->GetCoord().pos[2] << std::endl;
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}
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}
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void ChronosIGASimulationModel::parseConstrainedVertices(
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const std::shared_ptr<const SimulationJob> &pJob,
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const std::vector<std::shared_ptr<chrono::fea::ChNodeFEAxyzrot>> &edgeMeshVertsToChronoNodes,
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chrono::ChSystemSMC &my_system)
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{
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assert(!edgeMeshVertsToChronoNodes.empty());
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for (const std::pair<VertexIndex, std::unordered_set<int>> &constrainedVertex :
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pJob->constrainedVertices) {
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const int &constrainedVi = constrainedVertex.first;
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const std::unordered_set<int> &constrainedDoF = constrainedVertex.second;
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// Create a truss
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auto truss = chrono_types::make_shared<ChBody>();
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truss->SetBodyFixed(true);
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my_system.Add(truss);
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const auto &constrainedChronoNode = edgeMeshVertsToChronoNodes[constrainedVi];
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std::cout << "Constrained vertex:" << std::endl;
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std::cout << edgeMeshVertsToChronoNodes[constrainedVi]->GetCoord().pos[0] << " "
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<< edgeMeshVertsToChronoNodes[constrainedVi]->GetCoord().pos[1] << " "
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<< edgeMeshVertsToChronoNodes[constrainedVi]->GetCoord().pos[2] << std::endl;
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// Create a constraint at the end of the beam
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auto constr_a = chrono_types::make_shared<ChLinkMateGeneric>();
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constr_a->SetConstrainedCoords(constrainedDoF.contains(0),
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constrainedDoF.contains(1),
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constrainedDoF.contains(2),
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constrainedDoF.contains(3),
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constrainedDoF.contains(4),
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constrainedDoF.contains(5));
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constr_a->Initialize(constrainedChronoNode,
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truss,
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false,
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constrainedChronoNode->Frame(),
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constrainedChronoNode->Frame());
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// const auto frameNode = constrainedChronoNode->Frame();
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my_system.Add(constr_a);
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// edgeMeshVertsToChronoNodes[constrainedVi]->SetFixed(true);
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// if (vertexIsFullyConstrained) {
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// } else {
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// std::cerr << "Currently only rigid vertices are handled." << std::endl;
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// // SimulationResults simulationResults;
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// // simulationResults.converged = false;
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// // assert(false);
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// // return simulationResults;
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// }
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}
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}
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SimulationResults ChronosIGASimulationModel::executeSimulation(
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const std::shared_ptr<SimulationJob> &pJob)
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{
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// assert(pJob->pMesh->VN() != 0);
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// const bool structureInitialized = mesh_chronos != nullptr;
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// const bool wasInitializedWithDifferentStructure = structureInitialized
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// && (pJob->pMesh->EN()
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// != mesh_chronos->GetNelements()
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// || pJob->pMesh->VN()
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// != mesh_chronos->GetNnodes());
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chrono::ChSystemSMC my_system;
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// if (!structureInitialized || wasInitializedWithDifferentStructure) {
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setStructure(pJob->pMesh);
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my_system.Add(mesh_chronos);
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// }
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// chrono::irrlicht::ChIrrApp application(&my_system,
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// L"Irrlicht FEM visualization",
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// irr::core::dimension2d<irr::u32>(800, 600),
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// chrono::irrlicht::VerticalDir::Z,
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// false,
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// true);
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// const std::string chronoDataFolderPath = "/home/iason/Coding/build/external "
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// "dependencies/CHRONO-src/data/";
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// application.AddTypicalLogo(chronoDataFolderPath + "logo_chronoengine_alpha.png");
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// application.AddTypicalSky(chronoDataFolderPath + "skybox/");
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// application.AddTypicalLights();
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// application.AddTypicalCamera(irr::core::vector3df(0, (irr::f32) 0.6, -1));
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// my_system.SetTimestepperType(chrono::ChTimestepper::Type::EULER_IMPLICIT_LINEARIZED);
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const auto node_0 = std::dynamic_pointer_cast<ChNodeFEAxyzrot>(mesh_chronos->GetNode(0));
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//parse forces
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// std::cout << node_0->GetCoord().pos[0] << " " << node_0->GetCoord().pos[1] << " "
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// << node_0->GetCoord().pos[2] << std::endl;
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parseForces(mesh_chronos, edgeMeshVertsToChronoNodes, pJob->nodalExternalForces);
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// std::cout << node_0->GetCoord().pos[0] << " " << node_0->GetCoord().pos[1] << " "
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// << node_0->GetCoord().pos[2] << std::endl;
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//parse constrained vertices
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// std::cout << node_0->GetCoord().pos[0] << " " << node_0->GetCoord().pos[1] << " "
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// << node_0->GetCoord().pos[2] << std::endl;
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// parseConstrainedVertices(pJob, edgeMeshVertsToChronoNodes, my_system);
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// std::cout << node_0->GetCoord().pos[0] << " " << node_0->GetCoord().pos[1] << " "
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// << node_0->GetCoord().pos[2] << std::endl;
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// std::dynamic_pointer_cast<std::shared_ptr<ChNodeFEAxyzrot>>(mesh_chronos->GetNode(1))
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// ->SetFixed(true);
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// and load containers must be added to your system
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// auto mvisualizemesh = chrono_types::make_shared<ChVisualizationFEAmesh>(*(mesh_chronos.get()));
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// mvisualizemesh->SetFEMdataType(ChVisualizationFEAmesh::E_PLOT_NODE_DISP_NORM);
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// mvisualizemesh->SetColorscaleMinMax(0.0, 5.50);
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// mvisualizemesh->SetShrinkElements(false, 0.85);
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// mvisualizemesh->SetSmoothFaces(false);
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// mesh_chronos->AddAsset(mvisualizemesh);
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// application.AssetBindAll();
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// application.AssetUpdateAll();
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auto solver = chrono_types::make_shared<ChSolverMINRES>();
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my_system.SetSolver(solver);
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solver->SetMaxIterations(1e5);
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// solver->SetTolerance(1e-12);
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solver->EnableWarmStart(true); // IMPORTANT for convergence when using EULER_IMPLICIT_LINEARIZED
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solver->EnableDiagonalPreconditioner(true);
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// my_system.SetSolverForceTolerance(1e-9);
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solver->SetVerbose(true);
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std::cout << node_0->GetCoord().pos[0] << " " << node_0->GetCoord().pos[1] << " "
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<< node_0->GetCoord().pos[2] << std::endl;
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SimulationResults simulationResults;
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simulationResults.converged = my_system.DoStaticNonlinear();
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// simulationResults.converged = my_system.DoStaticLinear();
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std::cout << node_0->GetCoord().pos[0] << " " << node_0->GetCoord().pos[1] << " "
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<< node_0->GetCoord().pos[2] << std::endl;
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if (!simulationResults.converged) {
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std::cerr << "Simulation failed" << std::endl;
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assert(false);
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return simulationResults;
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}
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// my_system.SetTimestepperType(ChTimestepper::Type::EULER_IMPLICIT_LINEARIZED);
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// application.SetTimestep(0.001);
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// while (application.GetDevice()->run()) {
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// application.BeginScene();
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// application.DrawAll();
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// application.EndScene();
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// }
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simulationResults.pJob = pJob;
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simulationResults.displacements.resize(pJob->pMesh->VN());
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simulationResults.rotationalDisplacementQuaternion.resize(pJob->pMesh->VN());
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for (size_t vi = 0; vi < pJob->pMesh->VN(); vi++) {
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const auto node_chronos = edgeMeshVertsToChronoNodes[vi];
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std::cout << node_chronos->GetCoord().pos[0] << " " << node_chronos->GetCoord().pos[1]
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<< " " << node_chronos->GetCoord().pos[2] << std::endl;
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int i = 0;
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i++;
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assert(node_chronos != nullptr);
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const auto posDisplacement = node_chronos->Frame().GetPos()
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- node_chronos->GetX0().GetPos();
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// std::cout << "Node " << vi << " coordinate x= " << node_chronos->Frame().GetPos().x()
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// << " y=" << node_chronos->Frame().GetPos().y()
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// << " z=" << node_chronos->Frame().GetPos().z() << "\n";
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//Translations
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simulationResults.displacements[vi][0] = posDisplacement[0];
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simulationResults.displacements[vi][1] = posDisplacement[1];
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simulationResults.displacements[vi][2] = posDisplacement[2];
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//Rotations
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chrono::ChQuaternion<double> rotQuat = node_chronos->GetRot();
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simulationResults.rotationalDisplacementQuaternion[vi]
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= Eigen::Quaternion<double>(rotQuat.e0(), rotQuat.e1(), rotQuat.e2(), rotQuat.e3());
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const ChVector<double> eulerAngles = rotQuat.Q_to_Euler123();
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// std::cout << "Euler angles:" << eulerAngles << std::endl;
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simulationResults.displacements[vi][3] = eulerAngles[0];
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simulationResults.displacements[vi][4] = eulerAngles[1];
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simulationResults.displacements[vi][5] = eulerAngles[2];
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}
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simulationResults.simulationModelUsed = label;
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return simulationResults;
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// VCGEdgeMesh deformedMesh;
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// deformedMesh.copy(*(pJob->pMesh));
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// for (size_t vi = 0; vi < pJob->pMesh->VN(); vi++) {
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// const std::shared_ptr<ChNodeFEAxyzrot> node_chronos = edgeMeshVertsToChronosNodes[vi];
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// deformedMesh.vert[vi].P() = CoordType(node_chronos->GetPos()[0],
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// node_chronos->GetPos()[1],
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// node_chronos->GetPos()[2]);
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// }
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// deformedMesh.updateEigenEdgeAndVertices();
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// deformedMesh.setLabel("deformed");
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// deformedMesh.registerForDrawing();
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// polyscope::show();
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// return simulationResults;
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}
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void ChronosIGASimulationModel::setStructure(const std::shared_ptr<SimulationEdgeMesh> &pMesh)
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{
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mesh_chronos = convertToChronosMesh_IGA(pMesh, edgeMeshVertsToChronoNodes);
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}
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ChronosIGASimulationModel::ChronosIGASimulationModel() {}
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