Model for rod-to-rod contact interactions using penalty methods. More...

#include "RodContactModel.h"

Inheritance diagram for RodContactModel:

Collaboration diagram for RodContactModel:

Public Member Functions
	RodContactModel (const String &name, const Properties &conf, const Properties &props, const Properties &globdat)
	Constructor.

virtual bool	takeAction (const String &action, const Properties &params, const Properties &globdat) override
	Handle model actions.

Static Public Member Functions
static Ref< Model >	makeNew (const String &name, const Properties &conf, const Properties &props, const Properties &globdat)
	Create new RodContactModel instance.

static void	declare ()
	Declare model type to factory.

Static Public Attributes
Property identifiers
static const char *	TYPE_NAME = "RodContact"
	Model type name.

static const char *	PENALTY_PROP = "penalty"
	General penalty property.

static const char *	PENALTY_STS_PROP = "penaltySTS"
	Segment-to-segment penalty property.

static const char *	PENALTY_NTS_PROP = "penaltyNTS"
	Node-to-segment penalty property.

static const char *	RADIUS_PROP = "radius"
	Rod radius property.

static const char *	VERBOSE_PROP = "verbose"
	Verbose output property.

Protected Member Functions
virtual void	findContacts_ (IdxVector &elementsA, IdxVector &elementsB, const Vector &disp) const
	Find pairs of contacts.

void	getElementBoxes_ (Matrix &elemBoxMin, Matrix &elemBoxMax, const Vector &disp) const
	Compute the bounding box of every rod element in the current configuration.

virtual void	findPossibleBeams_ (IdxVector &beamsA, IdxVector &beamsB, const Matrix &elemBoxMin, const Matrix &elemBoxMax) const
	Find beams of possible contact pairs.

virtual void	findPossibleElements_ (IdxVector &elemsA, IdxVector &elemsB, const idx_t &beamA, const idx_t &beamB, const Matrix &elemBoxMin, const Matrix &elemBoxMax) const
	Get the contacting point between two beams in possible contact.

virtual void	computeContacts_ (MatrixBuilder &mbld, const Vector &fint, const IdxVector &elementsA, const IdxVector &elementsB, const Vector &disp)
	Compute the effects of the contact.

virtual void	computeBlacklist_ (const IdxVector &elementsA, const IdxVector &elementsB, const Vector &disp)
	Build the list of nodes initially in contact.

virtual bool	filterBlacklist_ (const idx_t elementsA, const idx_t elementsB) const
	Check whether a contact is on the blacklist.

virtual void	findClosestPoints_ (double &uA, double &uB, const Matrix &possA, const Matrix &possB) const
	Find the local coordinates of the closest points on two beams.

virtual double	getClosestPoint_ (const Vector &posS, const Matrix &possM) const
	Get the closest coordinate on the main element to the secondary point.

virtual bool	computeSTS_ (Vector &f_contrib, Matrix &k_contrib, const Matrix &possA, const Matrix &possB, const double uA, const double uB) const
	Compute the force and stiffness contributions of a segment-to-segment contact.

virtual bool	computeNTS_ (Vector &f_contrib, Matrix &k_contrib, const Vector &possS, const Matrix &possM, const double uM) const
	Compute the force and stiffness contributions of a node-to-segment contact.

bool	nodeInRod_ (const idx_t inode, const idx_t iRod) const
	Whether a node belongs to a rod (see nodeRods_)

void	updNodeDofs_ () const
	Fill the cache of translational dof indices of the rod nodes (see nodeDofs_)

void	invalidateNodeDofs_ ()
	Mark the cached dof indices as outdated (connected to the DofSpace events)

Detailed Description

The RodContactModel implements contact mechanics between rod elements using penalty-based formulations. It supports both segment-to-segment and node-to-segment contact types with automatic contact detection, blacklist filtering, and configurable penalty parameters.

Features:

Segment-to-segment (STS) and node-to-segment (NTS) contact formulations
Automatic contact pair detection and filtering
Blacklist system to exclude initial contacts
Configurable penalty parameters for different contact types
Rod radius specification for contact detection
Verbose output options for debugging

Constructor & Destructor Documentation

◆ RodContactModel()

RodContactModel::RodContactModel	(	const String &	name,
		const Properties &	conf,
		const Properties &	props,
		const Properties &	globdat
	)

explicit

Parameters

[in]	name	Model name
[out]	conf	Actually used configuration properties (output)
[in]	props	User-specified model properties
[in]	globdat	Global data container

Member Function Documentation

◆ computeBlacklist_()

void RodContactModel::computeBlacklist_	(	const IdxVector &	elementsA,
		const IdxVector &	elementsB,
		const Vector &	disp
	)

protectedvirtual

Parameters

[in]	elementsA	Element indices A
[in]	elementsB	Element indices B
[in]	disp	Displacement vector

◆ computeContacts_()

void RodContactModel::computeContacts_	(	MatrixBuilder &	mbld,
		const Vector &	fint,
		const IdxVector &	elementsA,
		const IdxVector &	elementsB,
		const Vector &	disp
	)

protectedvirtual

Parameters

[in,out]	mbld	Stiffness matrix builder, updated with contact contributions
[in,out]	fint	Internal force vector, updated with contact contributions
[in]	elementsA	Element indices of one side of the contact
[in]	elementsB	Element indices of the other side
[in]	disp	Displacement vector of all elements

◆ computeNTS_()

bool RodContactModel::computeNTS_	(	Vector &	f_contrib,
		Matrix &	k_contrib,
		const Vector &	possS,
		const Matrix &	possM,
		const double	uM
	)		const

protectedvirtual

Parameters

[out]	f_contrib	Force contribution
[out]	k_contrib	Stiffness contribution
[in]	possS	Position of the secondary node
[in]	possM	Positions of the main beam
[in]	uM	Local coordinate of the main beam

Returns: true if contact is active

See also: Wriggers, Simo (1985)

◆ computeSTS_()

bool RodContactModel::computeSTS_	(	Vector &	f_contrib,
		Matrix &	k_contrib,
		const Matrix &	possA,
		const Matrix &	possB,
		const double	uA,
		const double	uB
	)		const

protectedvirtual

Parameters

[out]	f_contrib	Force contribution
[out]	k_contrib	Stiffness contribution
[in]	possA	Positions of Beam A
[in]	possB	Positions of Beam B
[in]	uA	Local coordinate Beam A
[in]	uB	Local coordinate Beam B

Returns: true if contact is active

See also: Wriggers, Zavarise (1999)

◆ declare()

void RodContactModel::declare ( )

static

◆ filterBlacklist_()

bool RodContactModel::filterBlacklist_	(	const idx_t	elementsA,
		const idx_t	elementsB
	)		const

protectedvirtual

Parameters

[in]	elementsA	Element index A
[in]	elementsB	Element index B

Returns: true if the contact is on the blacklist

◆ findClosestPoints_()

void RodContactModel::findClosestPoints_	(	double &	uA,
		double &	uB,
		const Matrix &	possA,
		const Matrix &	possB
	)		const

protectedvirtual

Parameters

[out]	uA	Local coordinate Beam A
[out]	uB	Local coordinate Beam B
[in]	possA	Positions Beam A
[in]	possB	Positions Beam B

◆ findContacts_()

void RodContactModel::findContacts_	(	IdxVector &	elementsA,
		IdxVector &	elementsB,
		const Vector &	disp
	)		const

protectedvirtual

Parameters

[out]	elementsA	Element indices of one side of the contact
[out]	elementsB	Element indices of the other side
[in]	disp	Displacement vector of all elements

◆ findPossibleBeams_()

void RodContactModel::findPossibleBeams_	(	IdxVector &	beamsA,
		IdxVector &	beamsB,
		const Matrix &	elemBoxMin,
		const Matrix &	elemBoxMax
	)		const

protectedvirtual

The box of a rod is the union of the boxes of its elements.

Parameters

[out]	beamsA	Indices of the beams in contact
[out]	beamsB	Indices of corresponding beams
[in]	elemBoxMin	Lower element box corners (see getElementBoxes_)
[in]	elemBoxMax	Upper element box corners (see getElementBoxes_)

◆ findPossibleElements_()

void RodContactModel::findPossibleElements_	(	IdxVector &	elemsA,
		IdxVector &	elemsB,
		const idx_t &	beamA,
		const idx_t &	beamB,
		const Matrix &	elemBoxMin,
		const Matrix &	elemBoxMax
	)		const

protectedvirtual

Parameters

[out]	elemsA	Element index of one side of the contact
[out]	elemsB	Corresponding element index on the other side
[in]	beamA	Possible beam on side A
[in]	beamB	Possible beam on side B
[in]	elemBoxMin	Lower element box corners (see getElementBoxes_)
[in]	elemBoxMax	Upper element box corners (see getElementBoxes_)

◆ getClosestPoint_()

double RodContactModel::getClosestPoint_	(	const Vector &	posS,
		const Matrix &	possM
	)		const

protectedvirtual

Parameters

[in]	posS	Secondary point
[in]	possM	Main element positions

Returns: Coordinate on the main element

◆ getElementBoxes_()

void RodContactModel::getElementBoxes_	(	Matrix &	elemBoxMin,
		Matrix &	elemBoxMax,
		const Vector &	disp
	)		const

protected

Each box encloses the displaced element nodes and is widened by the contact radius. Computed once per contact search, so that the element-level search of every rod pair only compares boxes.

Parameters

[out]	elemBoxMin	Lower box corners (globalRank x element count), column = element index
[out]	elemBoxMax	Upper box corners (globalRank x element count), column = element index
[in]	disp	Displacement vector of all elements

◆ invalidateNodeDofs_()

void RodContactModel::invalidateNodeDofs_ ( )

protected

◆ makeNew()

Ref< Model > RodContactModel::makeNew	(	const String &	name,
		const Properties &	conf,
		const Properties &	props,
		const Properties &	globdat
	)

static

Parameters

[in]	name	Model name
[out]	conf	Actually used configuration properties (output)
[in]	props	User-specified model properties
[in]	globdat	Global data container

Returns: New model instance

◆ nodeInRod_()

bool RodContactModel::nodeInRod_	(	const idx_t	inode,
		const idx_t	iRod
	)		const

protected

Parameters

[in]	inode	Node index
[in]	iRod	Rod index

◆ takeAction()

bool RodContactModel::takeAction	(	const String &	action,
		const Properties &	params,
		const Properties &	globdat
	)

overridevirtual

Parameters

[in]	action	Action name
[in]	params	Action parameters
[in]	globdat	Global data container

Returns: true if action was handled

◆ updNodeDofs_()

void RodContactModel::updNodeDofs_ ( ) const

protected

Member Data Documentation

◆ PENALTY_NTS_PROP

const char * RodContactModel::PENALTY_NTS_PROP = "penaltyNTS"

static

◆ PENALTY_PROP

const char * RodContactModel::PENALTY_PROP = "penalty"

static

◆ PENALTY_STS_PROP

const char * RodContactModel::PENALTY_STS_PROP = "penaltySTS"

static

◆ RADIUS_PROP

const char * RodContactModel::RADIUS_PROP = "radius"

static

◆ TYPE_NAME

const char * RodContactModel::TYPE_NAME = "RodContact"

static

◆ VERBOSE_PROP

const char * RodContactModel::VERBOSE_PROP = "verbose"

static

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RodContactModel()

Member Function Documentation

◆ computeBlacklist_()

◆ computeContacts_()

◆ computeNTS_()

◆ computeSTS_()

◆ declare()

◆ filterBlacklist_()

◆ findClosestPoints_()

◆ findContacts_()

◆ findPossibleBeams_()

◆ findPossibleElements_()

◆ getClosestPoint_()

◆ getElementBoxes_()

◆ invalidateNodeDofs_()

◆ makeNew()

◆ nodeInRod_()

◆ takeAction()

◆ updNodeDofs_()

Member Data Documentation

◆ PENALTY_NTS_PROP

◆ PENALTY_PROP

◆ PENALTY_STS_PROP

◆ RADIUS_PROP

◆ TYPE_NAME

◆ VERBOSE_PROP