Description

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>
class chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >

Class for domains subject to a material model.

Domains define (sub) regions of the mesh where the material has effect. That is, they operate on a set of finite elements. A ChDomain has these components:

a ChMaterial with properties for the domain material model (ex. ChMaterialPoisson)
set of ChFieldElement finite elements subject to the model
set of ChField fields (ex. temperature & displacement) needed for the material model
additional data linked to finite elements and helper structures Children classes should inherit and specialize this, mostly for the two functions: PointComputeInternalLoads() PointComputeKRMmatrices() The T_... types are used to carry type info about the per-node or per-element or per-integration point data to instance. Usable domains such as ChDomainThermal, ChDomainDeformation etc. are inherited from this templated class.

#include <ChDomain.h>

Inheritance diagram for chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >:

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Collaboration diagram for chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >:

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Public Member Functions
	ChDomainImpl (typename tuple_as_sharedptr< T_per_node >::type mfields)
	Construct a domain, given a tuple of fields.

DataPerElement &	ElementData (std::shared_ptr< ChFieldElement > melement)
	Access the DataPerElement associated to the element. More...

virtual void	AddElement (std::shared_ptr< ChFieldElement > melement) override
	Adds a finite element to this domain. More...

virtual void	RemoveElement (std::shared_ptr< ChFieldElement > melement) override
	Removes a finite element from this domain.

virtual bool	IsElementAdded (std::shared_ptr< ChFieldElement > melement) override
	Returns true if the element is already in the domain.

virtual bool	InitialDataSetup () override
	This rewires all pointers and correctly set up the element_datamap.

virtual int	GetNumPerNodeCoordsPosLevel () override
	Get the total coordinates per each node (summing the dofs per each field)

virtual int	GetNumPerNodeCoordsVelLevel () override
	Get the total coordinates per each node (summing the dofs per each field)

virtual int	GetNumNodes () override
	Get the total number of nodes affected by this domain (some could be shared with other domains)

virtual int	GetNumFields () override
	Get the number of fields used by this domain.

virtual std::shared_ptr< ChFieldBase >	GetField (int nfield) override
	Get the n-th field.

std::unique_ptr< ChDomain::IteratorOnElements >	CreateIteratorOnElements () override

virtual void	GetFieldStateBlock (std::shared_ptr< ChFieldElement > melement, ChVectorDynamic<> &S, unsigned int i_field) override
	Fills the S vector with the current i-th field states S_j at the nodes of the element. More...

virtual void	GetFieldStateBlockDt (std::shared_ptr< ChFieldElement > melement, ChVectorDynamic<> &dSdt, unsigned int i_field) override
	Fills the dSdt vector with the current i-th field states dS_j/dt at the nodes of the element. More...

virtual void	GetFieldPackedStateBlock (std::shared_ptr< ChFieldElement > melement, DataPerElement &elementdata, ChMatrixDynamic<> &S_hh, unsigned int i_field)
	Fills the S_hh matrix with the "packed" i-th field states S_j at the nodes of the element. More...

virtual void	GetFieldPackedStateBlockDt (std::shared_ptr< ChFieldElement > melement, DataPerElement &elementdata, ChMatrixDynamic<> &dSdt_hh, unsigned int i_field)
	Fills the dSdt_hh matrix with the "packed" i-th field states dSdt_j at the nodes of the element. More...

virtual void	ElementComputeInternalLoads (std::shared_ptr< ChFieldElement > melement, DataPerElement &data, ChVectorDynamic<> &Fi)=0
	For a given finite element, computes the internal loads Fi and set values in the Fi vector. More...

virtual void	ElementComputeKRMmatrices (std::shared_ptr< ChFieldElement > melement, DataPerElement &data, ChMatrixRef H, double Kfactor, double Rfactor=0, double Mfactor=0)=0
	For a given finite element, computes matrix H = MfactorM + RfactordFi/dv + KfactordFi/dx, as scaled sum of the tangent matrices M,R,K,: H = MfactorM + RfactorR + KfactorK. More...

virtual void	ElementIntLoadLumpedMass_Md (std::shared_ptr< ChFieldElement > melement, DataPerElement &data, ChVectorDynamic<> &Md_i, double &error)
	For a given finite element, computes the lumped mass matrix. More...

virtual void	ElementUpdateEndStep (std::shared_ptr< ChFieldElement > melement, DataPerElement &data, double time)
	For a given finite element, computes updates at the end of a time step. More...

virtual void	PointUpdateEndStep (std::shared_ptr< ChFieldElement > melement, DataPerElement &data, const int i_point, const double time)
	Compute updates (ex. More...

virtual void	Setup () override
	Perform setup operations. More...

virtual void	SetupInitial () override

virtual void	Update (double time, UpdateFlags update_flags) override
	Perform any updates necessary at the current phase during the solution process. More...

virtual void	ForceToRest () override
	Set zero speed (and zero accelerations) in state without changing the position.

virtual unsigned int	GetNumCoordsPosLevel () override
	Get the number of coordinates at the position level. More...

virtual unsigned int	GetNumCoordsVelLevel () override
	Get the number of coordinates at the velocity level. More...

virtual void	IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) override
	From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More...

virtual void	IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T, UpdateFlags update_flags) override
	From global state vectors y={x,v} to element states (if any) (and update) fetching the states at the specified offsets. More...

virtual void	IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) override
	From element states (if any) acceleration to global acceleration vector. More...

virtual void	IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) override
	From global acceleration vector to element states (if any) acceleration. More...

virtual void	IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) override
	Computes x_new = x + Dt , using vectors at specified offsets. More...

virtual void	IntStateOnEndStep (double T) override
	Called at the end of a step, after the state has been updated. More...

virtual void	IntStateGetIncrement (const unsigned int off_x, const ChState &x_new, const ChState &x, const unsigned int off_v, ChStateDelta &Dv) override
	Computes Dt = x_new - x, using vectors at specified offsets. More...

virtual void	IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override
	Takes the F force term, scale and adds to R at given offset: R += c*F. More...

virtual void	IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) override
	Takes the Mw term, multiplying mass by a vector, scale and adds to R at given offset: R += cM*w. More...

virtual void	IntLoadLumpedMass_Md (const unsigned int off, ChVectorDynamic<> &Md, double &err, const double c) override
	Adds the lumped mass to a Md vector, representing a mass diagonal matrix. More...

virtual void	IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) override
	Prepare variables and constraints to accommodate a solution: More...

virtual void	IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) override
	After a solver solution, fetch values from variables and constraints into vectors: More...

virtual void	InjectVariables (ChSystemDescriptor &descriptor) override
	Register with the given system descriptor any ChVariable objects associated with this item.

virtual void	LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor) override
	Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. More...

virtual void	InjectKRMMatrices (ChSystemDescriptor &descriptor) override
	Register with the given system descriptor any ChKRMBlock objects associated with this item.

Public Member Functions inherited from chrono::ChPhysicsItem
	ChPhysicsItem (const ChPhysicsItem &other)

virtual ChPhysicsItem *	Clone () const override
	"Virtual" copy constructor (covariant return type).

ChSystem *	GetSystem () const
	Get the pointer to the parent ChSystem().

virtual void	SetSystem (ChSystem *m_system)
	Set the pointer to the parent ChSystem(). More...

virtual bool	IsActive () const
	Return true if the object is active and included in dynamics.

virtual bool	IsCollisionEnabled () const
	Tell if the object is subject to collision. More...

virtual void	AddCollisionModelsToSystem (ChCollisionSystem *coll_sys) const
	Add to the provided collision system any collision models managed by this physics item. More...

virtual void	RemoveCollisionModelsFromSystem (ChCollisionSystem *coll_sys) const
	Remove from the provided collision system any collision models managed by this physics item. More...

virtual void	SyncCollisionModels ()
	Synchronize the position and bounding box of any collision models managed by this physics item.

virtual ChAABB	GetTotalAABB () const
	Get the axis-aligned bounding box (AABB) of this object. More...

virtual ChVector3d	GetCenter () const
	Get a symbolic 'center' of the object. More...

virtual unsigned int	GetNumConstraints ()
	Get the number of scalar constraints.

virtual unsigned int	GetNumConstraintsBilateral ()
	Get the number of bilateral scalar constraints.

virtual unsigned int	GetNumConstraintsUnilateral ()
	Get the number of unilateral scalar constraints.

unsigned int	GetOffset_x ()
	Get offset in the state vector (position part)

unsigned int	GetOffset_w ()
	Get offset in the state vector (speed part)

unsigned int	GetOffset_L ()
	Get offset in the Lagrange multipliers.

void	SetOffset_x (const unsigned int moff)
	Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this.

void	SetOffset_w (const unsigned int moff)
	Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this.

void	SetOffset_L (const unsigned int moff)
	Set offset in the Lagrange multipliers Note: only the ChSystem::Setup function should use this.

virtual void	IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L)
	From item's reaction forces to global reaction vector. More...

virtual void	IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L)
	From global reaction vector to item's reaction forces. More...

virtual void	IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c)
	Takes the term Cq'L, scale and adds to R at given offset: R += cCq'*L. More...

virtual void	IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, const double c_vel, bool do_clamp, double recovery_clamp)
	Takes the term C, scale and adds to Qc at given offset: Qc += c*C. More...

virtual void	IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c, const double c_vel)
	Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More...

virtual void	InjectConstraints (ChSystemDescriptor &descriptor)
	Register with the given system descriptor any ChConstraint objects associated with this item.

virtual void	LoadConstraintJacobians ()
	Compute and load current Jacobians in encapsulated ChConstraint objects.

virtual void	VariablesFbReset ()
	Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero.

virtual void	VariablesFbLoadForces (double factor=1)
	Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor.

virtual void	VariablesQbLoadSpeed ()
	Initialize the 'qb' part of the ChVariables with the current value of speeds. More...

virtual void	VariablesFbIncrementMq ()
	Adds M*q (masses multiplied current 'qb') to Fb, ex. More...

virtual void	VariablesQbSetSpeed (double step=0)
	Fetches the item speed (ex. More...

virtual void	VariablesQbIncrementPosition (double step)
	Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More...

virtual void	ConstraintsBiReset ()
	Sets to zero the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false)
	Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsBiLoad_Ct (double factor=1)
	Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsBiLoad_Qc (double factor=1)
	Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsFbLoadForces (double factor=1)
	Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints.

virtual void	ConstraintsFetch_react (double factor=1)
	Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More...

virtual void	ArchiveOut (ChArchiveOut &archive_out) override
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIn (ChArchiveIn &archive_in) override
	Method to allow deserialization of transient data from archives. More...

Public Member Functions inherited from chrono::ChObj
	ChObj (const ChObj &other)

int	GetIdentifier () const
	Get the unique integer identifier of this object. More...

void	SetTag (int tag)
	Set an object integer tag (default: -1). More...

int	GetTag () const
	Get the tag of this object.

void	SetName (const std::string &myname)
	Set the name of this object.

const std::string &	GetName () const
	Get the name of this object.

double	GetChTime () const
	Gets the simulation time of this object.

void	SetChTime (double m_time)
	Sets the simulation time of this object.

void	AddVisualModel (std::shared_ptr< ChVisualModel > model)
	Add an (optional) visualization model. More...

std::shared_ptr< ChVisualModel >	GetVisualModel () const
	Access the visualization model (if any). More...

void	AddVisualShape (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame=ChFrame<>())
	Add the specified visual shape to the visualization model. More...

std::shared_ptr< ChVisualShape >	GetVisualShape (unsigned int i) const
	Access the specified visualization shape in the visualization model (if any). More...

void	AddVisualShapeFEA (std::shared_ptr< ChVisualShapeFEA > shapeFEA)
	Add the specified FEA visualization object to the visualization model. More...

std::shared_ptr< ChVisualShapeFEA >	GetVisualShapeFEA (unsigned int i) const
	Access the specified FEA visualization object in the visualization model (if any). More...

virtual ChFrame	GetVisualModelFrame (unsigned int nclone=0) const
	Get the reference frame (expressed in and relative to the absolute frame) of the visual model. More...

virtual unsigned int	GetNumVisualModelClones () const
	Return the number of clones of the visual model associated with this object. More...

void	AddCamera (std::shared_ptr< ChCamera > camera)
	Attach a camera to this object. More...

std::vector< std::shared_ptr< ChCamera > >	GetCameras () const
	Get the set of cameras attached to this object.

void	UpdateVisualModel ()
	Utility function to update only the associated visual assets (if any).

virtual std::string &	ArchiveContainerName ()

Protected Member Functions
virtual std::shared_ptr< ChMaterial >	GetMaterial ()=0

Protected Member Functions inherited from chrono::ChObj
int	GenerateUniqueIdentifier ()

Protected Attributes
std::unordered_map< std::shared_ptr< ChFieldElement >, DataPerElement >	element_datamap

std::array< std::shared_ptr< ChFieldBase >, std::tuple_size_v< T_per_node > >	fields

Protected Attributes inherited from chrono::fea::ChDomain
unsigned int	n_dofs
	total degrees of freedom of element materialpoint states (ex plasticity)

unsigned int	n_dofs_w
	total degrees of freedom of element materialpoint states (ex plasticity), derivative (Lie algebra)

Protected Attributes inherited from chrono::ChPhysicsItem
ChSystem *	system
	parent system

unsigned int	offset_x
	offset in vector of state (position part)

unsigned int	offset_w
	offset in vector of state (speed part)

unsigned int	offset_L
	offset in vector of Lagrange multipliers

Protected Attributes inherited from chrono::ChObj
double	ChTime
	object simulation time

std::string	m_name
	object name

int	m_identifier
	object unique identifier

int	m_tag
	user-supplied tag

std::shared_ptr< ChVisualModelInstance >	vis_model_instance
	instantiated visualization model

std::vector< std::shared_ptr< ChCamera > >	cameras
	set of cameras

Member Function Documentation

◆ AddElement()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::AddElement ( std::shared_ptr< ChFieldElement > melement )

inlineoverridevirtual

Adds a finite element to this domain.

Elements should not be shared among multiple domains (whereas nodes could be shared).

Implements chrono::fea::ChDomain.

◆ ElementComputeInternalLoads()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::ElementComputeInternalLoads	(	std::shared_ptr< ChFieldElement >	melement,
		DataPerElement &	data,
		ChVectorDynamic<> &	Fi
	)

pure virtual

For a given finite element, computes the internal loads Fi and set values in the Fi vector.

It operates quadrature on the element, calling PointComputeInternalLoads(...) at each quadrature point.

◆ ElementComputeKRMmatrices()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::ElementComputeKRMmatrices	(	std::shared_ptr< ChFieldElement >	melement,
		DataPerElement &	data,
		ChMatrixRef	H,
		double	Kfactor,
		double	Rfactor = `0`,
		double	Mfactor = `0`
	)

pure virtual

For a given finite element, computes matrix H = Mfactor*M + Rfactor*dFi/dv + Kfactor*dFi/dx, as scaled sum of the tangent matrices M,R,K,: H = Mfactor*M + Rfactor*R + Kfactor*K.

Setting Mfactor=1 and Rfactor=Kfactor=0, it can be used to get just mass matrix, etc. It operates quadrature on the element, calling PointComputeKRMmatrices(...) at each quadrature point.

◆ ElementData()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

DataPerElement& chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::ElementData ( std::shared_ptr< ChFieldElement > melement )

inline

Access the DataPerElement associated to the element.

This requires a lookup in a the unordered_map container, that usually has a very small but not negligible overhead.

◆ ElementIntLoadLumpedMass_Md()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::ElementIntLoadLumpedMass_Md	(	std::shared_ptr< ChFieldElement >	melement,
		DataPerElement &	data,
		ChVectorDynamic<> &	Md_i,
		double &	error
	)

inlinevirtual

For a given finite element, computes the lumped mass matrix.

This falls back to the generic "Diagonal Scaling with Mass Preservation" approach, that takes the full consistent mass matrix and reduces it to a diagonal by scaling the total mass. It works for all elements, 2D, 3D etc. It is not very efficient because it must compute the consitent mass matrix before.

◆ ElementUpdateEndStep()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::ElementUpdateEndStep	(	std::shared_ptr< ChFieldElement >	melement,
		DataPerElement &	data,
		double	time
	)

inlinevirtual

For a given finite element, computes updates at the end of a time step.

This may happen less frequently than a full Update. It falls back to calling PointUpdateEndStep per each material point.

◆ GetFieldPackedStateBlock()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::GetFieldPackedStateBlock	(	std::shared_ptr< ChFieldElement >	melement,
		DataPerElement &	elementdata,
		ChMatrixDynamic<> &	S_hh,
		unsigned int	i_field
	)

inlinevirtual

Fills the S_hh matrix with the "packed" i-th field states S_j at the nodes of the element.

The S_hh matrix has states values stacked side to side as columns! (NOT queued one after the other in a vector as in GetFieldStateBlock. Also, it is a bit faster). This uses the n.th field, with proper ordering. Ex. if domain has displacement field and temperature field then GetFieldPackedStateBlock(myelement, data, S, 0) will give [x_1 | x_2 | ....]

◆ GetFieldPackedStateBlockDt()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::GetFieldPackedStateBlockDt	(	std::shared_ptr< ChFieldElement >	melement,
		DataPerElement &	elementdata,
		ChMatrixDynamic<> &	dSdt_hh,
		unsigned int	i_field
	)

inlinevirtual

Fills the dSdt_hh matrix with the "packed" i-th field states dSdt_j at the nodes of the element.

The S_hh matrix has states values stacked side to side as columns! (NOT queued one after the other in a vector as in GetFieldStateBlockDt. Also, it is a bit faster). This uses the n.th field, with proper ordering. Ex. if domain has displacement field and temperature field then GetFieldPackedStateBlockDt(myelement, data, dSdt, 0) will give [dx/dt_1 | dx/dt_2 | ....]

◆ GetFieldStateBlock()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::GetFieldStateBlock	(	std::shared_ptr< ChFieldElement >	melement,
		ChVectorDynamic<> &	S,
		unsigned int	i_field
	)

inlineoverridevirtual

Fills the S vector with the current i-th field states S_j at the nodes of the element.

If the S vector size is not the proper size, it will be resized. This uses the n.th field, with proper ordering. Ex. if domain has displacement field and temperature field then GetFieldStateBlock(myelement, S, 1) will give [T_1; T_2; ....]

Implements chrono::fea::ChDomain.

◆ GetFieldStateBlockDt()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::GetFieldStateBlockDt	(	std::shared_ptr< ChFieldElement >	melement,
		ChVectorDynamic<> &	dSdt,
		unsigned int	i_field
	)

inlineoverridevirtual

Fills the dSdt vector with the current i-th field states dS_j/dt at the nodes of the element.

with proper ordering. If the dSdt vector size is not the proper size, it will be resized. This uses the n.th field, with proper ordering. Ex. if domain has displacement field and temperature field then GetFieldStateBlockDt(myelement, dSdt, 1) will give [dT/dt_1; dT/dt_2; ....]

Implements chrono::fea::ChDomain.

◆ GetNumCoordsPosLevel()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual unsigned int chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::GetNumCoordsPosLevel ( )

inlineoverridevirtual

Get the number of coordinates at the position level.

Might differ from coordinates at velocity level if quaternions are used for rotations.

Reimplemented from chrono::ChPhysicsItem.

◆ GetNumCoordsVelLevel()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual unsigned int chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::GetNumCoordsVelLevel ( )

inlineoverridevirtual

Get the number of coordinates at the velocity level.

Might differ from coordinates at position level if quaternions are used for rotations.

Reimplemented from chrono::ChPhysicsItem.

◆ IntFromDescriptor()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::IntFromDescriptor	(	const unsigned int	off_v,
		ChStateDelta &	v,
		const unsigned int	off_L,
		ChVectorDynamic<> &	L
	)

inlineoverridevirtual

After a solver solution, fetch values from variables and constraints into vectors:

Parameters

off_v	offset for v
v	vector to where the q 'unknowns' term of the variables will be copied
off_L	offset for L
L	vector to where L 'lagrangian ' term of the constraints will be copied

Reimplemented from chrono::ChPhysicsItem.

◆ IntLoadLumpedMass_Md()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::IntLoadLumpedMass_Md	(	const unsigned int	off,
		ChVectorDynamic<> &	Md,
		double &	err,
		const double	c
	)

inlineoverridevirtual

Adds the lumped mass to a Md vector, representing a mass diagonal matrix.

Used by lumped explicit integrators. If mass lumping is impossible or approximate, adds scalar error to "error" parameter. Md += c*diag(M)

Parameters

off	offset in Md vector
Md	result: Md vector, diagonal of the lumped mass matrix
err	result: not touched if lumping does not introduce errors
c	a scaling factor

Reimplemented from chrono::ChPhysicsItem.

◆ IntLoadResidual_F()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::IntLoadResidual_F	(	const unsigned int	off,
		ChVectorDynamic<> &	R,
		const double	c
	)

inlineoverridevirtual

Takes the F force term, scale and adds to R at given offset: R += c*F.

Parameters

off	offset in R residual
R	result: the R residual, R += c*F
c	a scaling factor

Reimplemented from chrono::ChPhysicsItem.

Reimplemented in chrono::fea::ChDomainThermoDeformation, and chrono::fea::ChDomainDeformation.

◆ IntLoadResidual_Mv()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::IntLoadResidual_Mv	(	const unsigned int	off,
		ChVectorDynamic<> &	R,
		const ChVectorDynamic<> &	w,
		const double	c
	)

inlineoverridevirtual

Takes the M*w term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w.

Parameters

off	offset in R residual
R	result: the R residual, R += cMv
w	the w vector
c	a scaling factor

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateGather()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::IntStateGather	(	const unsigned int	off_x,
		ChState &	x,
		const unsigned int	off_v,
		ChStateDelta &	v,
		double &	T
	)

inlineoverridevirtual

From item's state to global state vectors y={x,v} pasting the states at the specified offsets.

Parameters

off_x	offset in x state vector
x	state vector, position part
off_v	offset in v state vector
v	state vector, speed part
T	time

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateGatherAcceleration()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::IntStateGatherAcceleration	(	const unsigned int	off_a,
		ChStateDelta &	a
	)

inlineoverridevirtual

From element states (if any) acceleration to global acceleration vector.

Parameters

off_a	offset in a accel. vector
a	acceleration part of state vector derivative

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateGetIncrement()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::IntStateGetIncrement	(	const unsigned int	off_x,
		const ChState &	x_new,
		const ChState &	x,
		const unsigned int	off_v,
		ChStateDelta &	Dv
	)

inlineoverridevirtual

Computes Dt = x_new - x, using vectors at specified offsets.

By default, when DOF = DOF_w, it does just the difference of two state vectors, but in some cases (ex when using quaternions for rotations) it could do more complex stuff, and children classes might overload it.

Parameters

off_x	offset in x state vector
x_new	state vector, final position part
x	state vector, initial position part
off_v	offset in v state vector
Dv	state vector, increment. Here gets the result

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateIncrement()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::IntStateIncrement	(	const unsigned int	off_x,
		ChState &	x_new,
		const ChState &	x,
		const unsigned int	off_v,
		const ChStateDelta &	Dv
	)

inlineoverridevirtual

Computes x_new = x + Dt , using vectors at specified offsets.

By default, when DOF = DOF_w, it does just the sum, but in some cases (ex when using quaternions for rotations) it could do more complex stuff, and children classes might overload it.

Parameters

off_x	offset in x state vector
x_new	state vector, position part, incremented result
x	state vector, initial position part
off_v	offset in v state vector
Dv	state vector, increment

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateOnEndStep()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::IntStateOnEndStep ( double T )

inlineoverridevirtual

Called at the end of a step, after the state has been updated.

This can be used to perform any clean up or finalization after a step is completed, or to update state variables that are not part of the state vector but need to be updated only at the end of a step, like in plasticity.

Parameters

T time

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateScatter()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::IntStateScatter	(	const unsigned int	off_x,
		const ChState &	x,
		const unsigned int	off_v,
		const ChStateDelta &	v,
		const double	T,
		UpdateFlags	update_flags
	)

inlineoverridevirtual

From global state vectors y={x,v} to element states (if any) (and update) fetching the states at the specified offsets.

Parameters

off_x	offset in x state vector
x	state vector, position part
off_v	offset in v state vector
v	state vector, speed part
T	time
update_flags	perform complete update, or exclude visual assets, etc.

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateScatterAcceleration()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::IntStateScatterAcceleration	(	const unsigned int	off_a,
		const ChStateDelta &	a
	)

inlineoverridevirtual

From global acceleration vector to element states (if any) acceleration.

Parameters

off_a	offset in a accel. vector
a	acceleration part of state vector derivative

Reimplemented from chrono::ChPhysicsItem.

◆ IntToDescriptor()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::IntToDescriptor	(	const unsigned int	off_v,
		const ChStateDelta &	v,
		const ChVectorDynamic<> &	R,
		const unsigned int	off_L,
		const ChVectorDynamic<> &	L,
		const ChVectorDynamic<> &	Qc
	)

inlineoverridevirtual

Prepare variables and constraints to accommodate a solution:

Parameters

off_v	offset for v and R
v	vector copied into the q 'unknowns' term of the variables
R	vector copied into the F 'force' term of the variables
off_L	offset for L and Qc
L	vector copied into the L 'lagrangian ' term of the constraints
Qc	vector copied into the Qb 'constraint' term of the constraints

Reimplemented from chrono::ChPhysicsItem.

◆ LoadKRMMatrices()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::LoadKRMMatrices	(	double	Kfactor,
		double	Rfactor,
		double	Mfactor
	)

inlineoverridevirtual

Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects.

The resulting KRM blocks represent linear combinations of the K, R, and M matrices, with the specified coefficients Kfactor, Rfactor,and Mfactor, respectively. Note: signs are flipped from the term dF/dx in the integrator: K = -dF/dq and R = -dF/dv.

Reimplemented from chrono::ChPhysicsItem.

◆ PointUpdateEndStep()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::PointUpdateEndStep	(	std::shared_ptr< ChFieldElement >	melement,
		DataPerElement &	data,
		const int	i_point,
		const double	time
	)

inlinevirtual

Compute updates (ex.

plastic flow, increments, etc.) at the end of a time step. This is called per each material point per each element. This may happen less frequently than a full Update.

◆ Setup()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::Setup ( )

inlineoverridevirtual

Perform setup operations.

This function is called at the beginning of a step, to recalculate quantities that may have changed (e.g., number of coordinates, DOFs, constraints), as well as offsets in system-wide state vectors.

Reimplemented from chrono::ChPhysicsItem.

◆ Update()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>

virtual void chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >::Update	(	double	time,
		UpdateFlags	update_flags
	)

inlineoverridevirtual

Perform any updates necessary at the current phase during the solution process.

This function is called at least once per step to update auxiliary data, internal states, etc. The default implementation updates the item's time stamp and its visualization assets (if any are defined anf only if requested).

Reimplemented from chrono::ChPhysicsItem.

The documentation for this class was generated from the following file:

/builds/uwsbel/chrono/src/chrono/fea/ChDomain.h

Description

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE> class chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >

Public Member Functions

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ AddElement()

◆ ElementComputeInternalLoads()

◆ ElementComputeKRMmatrices()

◆ ElementData()

◆ ElementIntLoadLumpedMass_Md()

◆ ElementUpdateEndStep()

◆ GetFieldPackedStateBlock()

◆ GetFieldPackedStateBlockDt()

◆ GetFieldStateBlock()

◆ GetFieldStateBlockDt()

◆ GetNumCoordsPosLevel()

◆ GetNumCoordsVelLevel()

◆ IntFromDescriptor()

◆ IntLoadLumpedMass_Md()

◆ IntLoadResidual_F()

◆ IntLoadResidual_Mv()

◆ IntStateGather()

◆ IntStateGatherAcceleration()

◆ IntStateGetIncrement()

◆ IntStateIncrement()

◆ IntStateOnEndStep()

◆ IntStateScatter()

◆ IntStateScatterAcceleration()

◆ IntToDescriptor()

◆ LoadKRMMatrices()

◆ PointUpdateEndStep()

◆ Setup()

◆ Update()

template<typename T_per_node = std::tuple<ChFieldScalar>, typename T_per_matpoint_aux = ChFieldDataNONE, typename T_per_element = ChElementDataNONE>
class chrono::fea::ChDomainImpl< T_per_node, T_per_matpoint_aux, T_per_element >