296 lines
11 KiB
C++
Executable File
296 lines
11 KiB
C++
Executable File
#ifndef BEAMFORMFINDER_HPP
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#define BEAMFORMFINDER_HPP
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//#ifdef USE_MATPLOT
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//#include "matplot.h"
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#include <matplot/matplot.h>
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//#endif
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#include "simulationmesh.hpp"
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#include "simulationmodel.hpp"
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#include <Eigen/Dense>
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#include <filesystem>
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#include <unordered_set>
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#ifdef USE_ENSMALLEN
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#include <armadillo>
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#include <ensmallen.hpp>
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#endif
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struct SimulationJob;
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enum DoF { Ux = 0, Uy, Uz, Nx, Ny, Nr, NumDoF };
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using DoFType = int;
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using EdgeType = VCGEdgeMesh::EdgeType;
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using VertexType = VCGEdgeMesh::VertexType;
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struct DifferentiateWithRespectTo {
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const VertexType &v;
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const DoFType &dofi;
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};
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class DRMSimulationModel : public SimulationModel
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{
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public:
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struct Settings
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{
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bool shouldDraw{false};
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bool beVerbose{false};
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bool shouldCreatePlots{false};
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// int drawingStep{0};
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// double residualForcesMovingAverageDerivativeNormThreshold{1e-8};
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// double residualForcesMovingAverageNormThreshold{1e-8};
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double Dtini{0.1};
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double xi{0.9969};
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std::optional<double> shouldUseTranslationalKineticEnergyThreshold;
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int gradualForcedDisplacementSteps{50};
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// int desiredGradualExternalLoadsSteps{1};
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double gamma{0.8};
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double totalResidualForcesNormThreshold{1e-8};
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double totalExternalForcesNormPercentageTermination{1e-5};
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std::optional<int> maxDRMIterations;
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std::optional<int> debugModeStep;
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std::optional<double> totalTranslationalKineticEnergyThreshold;
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std::optional<double> averageResidualForcesCriterionThreshold;
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std::optional<double> linearGuessForceScaleFactor;
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// std::optional<int> intermediateResultsSaveStep;
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std::optional<bool> saveIntermediateBestStates;
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std::optional<double> viscousDampingFactor;
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bool useKineticDamping{true};
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Settings() {}
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void save(const std::filesystem::path &jsonFilePath) const;
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bool load(const std::filesystem::path &filePath);
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struct JsonLabels
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{
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const std::string shouldDraw{"shouldDraw"};
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const std::string beVerbose{"beVerbose"};
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const std::string shouldCreatePlots{"shouldCreatePlots"};
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const std::string Dtini{"DtIni"};
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const std::string xi{"xi"};
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const std::string gamma{"gamma"};
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const std::string totalResidualForcesNormThreshold;
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const std::string maxDRMIterations{"maxIterations"};
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const std::string debugModeStep{"debugModeStep"};
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const std::string totalTranslationalKineticEnergyThreshold{
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"totalTranslationaKineticEnergyThreshold"};
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const std::string averageResidualForcesCriterionThreshold{
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"averageResidualForcesThreshold"};
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const std::string linearGuessForceScaleFactor{"linearGuessForceScaleFactor"};
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const std::string viscousDampingFactor{"viscousDampingFactor"};
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};
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static JsonLabels jsonLabels;
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};
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private:
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Settings mSettings;
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double Dt{mSettings.Dtini};
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bool checkedForMaximumMoment{false};
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bool shouldTemporarilyDampForces{false};
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bool shouldTemporarilyAmplifyForces{true};
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double externalMomentsNorm{0};
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size_t mCurrentSimulationStep{0};
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matplot::line_handle plotHandle;
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std::vector<double> plotYValues;
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size_t numOfDampings{0};
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int externalLoadStep{1};
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std::vector<bool> isVertexConstrained;
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std::vector<bool> isRigidSupport;
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double minTotalResidualForcesNorm{std::numeric_limits<double>::max()};
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const std::string meshPolyscopeLabel{"Simulation mesh"};
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std::unique_ptr<SimulationMesh> pMesh;
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std::unordered_map<VertexIndex, std::unordered_set<DoFType>> constrainedVertices;
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SimulationHistory history;
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// Eigen::Tensor<double, 4> theta3Derivatives;
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// std::unordered_map<MyKeyType, double, key_hash> theta3Derivatives;
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bool shouldApplyInitialDistortion = false;
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//#ifdef USE_ENSMALLEN
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// std::shared_ptr<SimulationJob> pJob;
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//#endif
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void reset(const std::shared_ptr<SimulationJob> &pJob, const Settings &settings);
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void updateNodalInternalForces(
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const std::unordered_map<VertexIndex, std::unordered_set<DoFType>> &fixedVertices);
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void updateNodalExternalForces(
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const std::unordered_map<VertexIndex, Vector6d> &nodalForces,
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const std::unordered_map<VertexIndex, std::unordered_set<DoFType>> &fixedVertices);
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void updateResidualForces();
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void updateRotationalDisplacements();
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void updateElementalLengths();
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void updateNodalMasses();
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void updateNodalAccelerations();
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void updateNodalVelocities();
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void updateNodalDisplacements();
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void applyForcedDisplacements(
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const std::unordered_map<VertexIndex, Eigen::Vector3d> &nodalForcedDisplacements);
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Vector6d computeElementTorsionalForce(const Element &element,
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const Vector6d &displacementDifference,
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const std::unordered_set<DoFType> &constrainedDof);
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// BeamFormFinder::Vector6d computeElementFirstBendingForce(
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// const Element &element, const Vector6d &displacementDifference,
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// const std::unordered_set<gsl::index> &constrainedDof);
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// BeamFormFinder::Vector6d computeElementSecondBendingForce(
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// const Element &element, const Vector6d &displacementDifference,
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// const std::unordered_set<gsl::index> &constrainedDof);
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void updateKineticEnergy();
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void resetVelocities();
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SimulationResults computeResults(const std::shared_ptr<SimulationJob> &pJob);
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void updateNodePosition(
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VertexType &v,
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const std::unordered_map<VertexIndex, std::unordered_set<DoFType>> &fixedVertices);
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void applyDisplacements(
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const std::unordered_map<VertexIndex, std::unordered_set<DoFType>> &fixedVertices);
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#ifdef POLYSCOPE_DEFINED
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void draw(const std::string &screenshotsFolder = {});
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#endif
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void
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updateNodalInternalForce(Vector6d &nodalInternalForce,
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const Vector6d &elementInternalForce,
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const std::unordered_set<DoFType> &nodalFixedDof);
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Vector6d computeElementInternalForce(
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const Element &elem, const Node &n0, const Node &n1,
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const std::unordered_set<DoFType> &n0ConstrainedDof,
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const std::unordered_set<DoFType> &n1ConstrainedDof);
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Vector6d computeElementAxialForce(const ::EdgeType &e) const;
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VectorType computeDisplacementDifferenceDerivative(
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const EdgeType &e, const DifferentiateWithRespectTo &dui) const;
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double
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computeDerivativeElementLength(const EdgeType &e,
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const DifferentiateWithRespectTo &dui) const;
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VectorType computeDerivativeT1(const EdgeType &e,
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const DifferentiateWithRespectTo &dui) const;
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VectorType
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computeDerivativeOfNormal(const VertexType &v,
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const DifferentiateWithRespectTo &dui) const;
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VectorType computeDerivativeT3(const EdgeType &e,
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const DifferentiateWithRespectTo &dui) const;
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VectorType computeDerivativeT2(const EdgeType &e,
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const DifferentiateWithRespectTo &dui) const;
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double computeDerivativeTheta2(const EdgeType &e, const VertexIndex &evi,
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const VertexIndex &dwrt_evi,
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const DoFType &dwrt_dofi) const;
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void updateElementalFrames();
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VectorType computeDerivativeOfR(const EdgeType &e,
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const DifferentiateWithRespectTo &dui) const;
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static double computeDerivativeOfNorm(const VectorType &x,
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const VectorType &derivativeOfX);
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static VectorType computeDerivativeOfCrossProduct(
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const VectorType &a, const VectorType &derivativeOfA, const VectorType &b,
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const VectorType &derivativeOfB);
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double computeTheta3(const EdgeType &e, const VertexType &v);
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double computeDerivativeTheta3(const EdgeType &e, const VertexType &v,
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const DifferentiateWithRespectTo &dui) const;
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double computeTotalPotentialEnergy();
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void computeRigidSupports();
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void updateNormalDerivatives();
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void updateT1Derivatives();
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void updateT2Derivatives();
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void updateT3Derivatives();
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void updateRDerivatives();
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double computeDerivativeTheta1(const EdgeType &e, const VertexIndex &evi,
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const VertexIndex &dwrt_evi,
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const DoFType &dwrt_dofi) const;
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// void updatePositionsOnTheFly(
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// const std::unordered_map<VertexIndex,
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// std::unordered_set<gsl::index>>
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// &fixedVertices);
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void updateResidualForcesOnTheFly(
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const std::unordered_map<VertexIndex, std::unordered_set<DoFType>>
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&fixedVertices);
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void updatePositionsOnTheFly(
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const std::unordered_map<VertexIndex, std::unordered_set<DoFType>>
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&fixedVertices);
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void updateNodeNormal(
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VertexType &v,
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const std::unordered_map<VertexIndex, std::unordered_set<DoFType>>
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&fixedVertices);
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void applyForcedNormals(
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const std::unordered_map<VertexIndex, VectorType> nodalForcedRotations);
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void printCurrentState() const;
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void printDebugInfo() const;
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double computeTotalInternalPotentialEnergy();
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void applySolutionGuess(const SimulationResults &solutionGuess,
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const std::shared_ptr<SimulationJob> &pJob);
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void updateNodeNr(VertexType &v);
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void applyKineticDamping(const std::shared_ptr<SimulationJob> &pJob);
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virtual SimulationResults executeSimulation(const std::shared_ptr<SimulationJob> &pJob);
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void reset(const std::shared_ptr<SimulationJob> &pJob);
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public:
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DRMSimulationModel();
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SimulationResults executeSimulation(const std::shared_ptr<SimulationJob> &pJob,
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const Settings &settings,
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const SimulationResults &solutionGuess = SimulationResults());
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#ifdef USE_ENSMALLEN
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double EvaluateWithGradient(const arma::mat &x, arma::mat &g);
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void setJob(const std::shared_ptr<SimulationJob> &pJob);
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SimulationMesh *getDeformedMesh(const arma::mat &x);
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#endif
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static void runUnitTests();
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};
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inline DRMSimulationModel::Settings::JsonLabels DRMSimulationModel::Settings::jsonLabels;
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template <typename PointType> PointType Cross(PointType p1, PointType p2) {
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return p1 ^ p2;
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}
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inline size_t currentStep{0};
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inline bool TriggerBreakpoint(const VertexIndex &vi, const EdgeIndex &ei,
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const DoFType &dofi) {
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const size_t numberOfVertices = 10;
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const VertexIndex middleNodeIndex = numberOfVertices / 2;
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// return vi == middleNodeIndex && dofi == 1;
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return dofi == 1 && ((vi == 1 && ei == 0) || (vi == 9 && ei == 9));
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}
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inline bool TriggerBreakpoint(const VertexIndex &vi, const EdgeIndex &ei) {
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const size_t numberOfVertices = 10;
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const VertexIndex middleNodeIndex = numberOfVertices / 2;
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return (vi == middleNodeIndex);
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// return (vi == 0 || vi == numberOfVertices - 1) && currentStep == 1;
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return (vi == 1 && ei == 0) || (vi == 9 && ei == 9);
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}
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#endif // BEAMFORMFINDER_HPP
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