Line data Source code
1 : //* This file is part of the MOOSE framework
2 : //* https://mooseframework.inl.gov
3 : //*
4 : //* All rights reserved, see COPYRIGHT for full restrictions
5 : //* https://github.com/idaholab/moose/blob/master/COPYRIGHT
6 : //*
7 : //* Licensed under LGPL 2.1, please see LICENSE for details
8 : //* https://www.gnu.org/licenses/lgpl-2.1.html
9 :
10 : #include "ComputeDynamicWeightedGapLMMechanicalContact.h"
11 : #include "MortarContactUtils.h"
12 : #include "DisplacedProblem.h"
13 : #include "Assembly.h"
14 : #include "AutomaticMortarGeneration.h"
15 :
16 : #include "metaphysicl/dualsemidynamicsparsenumberarray.h"
17 : #include "metaphysicl/parallel_dualnumber.h"
18 : #include "metaphysicl/parallel_dynamic_std_array_wrapper.h"
19 : #include "metaphysicl/parallel_semidynamicsparsenumberarray.h"
20 : #include "timpi/parallel_sync.h"
21 :
22 : registerMooseObject("ContactApp", ComputeDynamicWeightedGapLMMechanicalContact);
23 :
24 : namespace
25 : {
26 : const InputParameters &
27 146 : assignVarsInParamsDyn(const InputParameters & params_in)
28 : {
29 : InputParameters & ret = const_cast<InputParameters &>(params_in);
30 146 : const auto & disp_x_name = ret.get<std::vector<VariableName>>("disp_x");
31 146 : if (disp_x_name.size() != 1)
32 0 : mooseError("We require that the disp_x parameter have exactly one coupled name");
33 :
34 : // We do this so we don't get any variable errors during MortarConstraint(Base) construction
35 292 : ret.set<VariableName>("secondary_variable") = disp_x_name[0];
36 146 : ret.set<VariableName>("primary_variable") = disp_x_name[0];
37 :
38 146 : return ret;
39 : }
40 : }
41 : InputParameters
42 292 : ComputeDynamicWeightedGapLMMechanicalContact::validParams()
43 : {
44 292 : InputParameters params = ADMortarConstraint::validParams();
45 292 : params.addClassDescription(
46 : "Computes the normal contact mortar constraints for dynamic simulations");
47 876 : params.addRangeCheckedParam<Real>("capture_tolerance",
48 584 : 1.0e-5,
49 : "capture_tolerance>=0",
50 : "Parameter describing a gap threshold for the application of "
51 : "the persistency constraint in dynamic simulations.");
52 584 : params.addCoupledVar("wear_depth",
53 : "The name of the mortar auxiliary variable that is used to modify the "
54 : "weighted gap definition");
55 584 : params.addRequiredRangeCheckedParam<Real>(
56 : "newmark_beta", "newmark_beta > 0", "Beta parameter for the Newmark time integrator");
57 584 : params.addRequiredRangeCheckedParam<Real>(
58 : "newmark_gamma", "newmark_gamma >= 0.0", "Gamma parameter for the Newmark time integrator");
59 292 : params.suppressParameter<VariableName>("secondary_variable");
60 292 : params.suppressParameter<VariableName>("primary_variable");
61 584 : params.addRequiredCoupledVar("disp_x", "The x displacement variable");
62 584 : params.addRequiredCoupledVar("disp_y", "The y displacement variable");
63 584 : params.addCoupledVar("disp_z", "The z displacement variable");
64 584 : params.addParam<Real>(
65 584 : "c", 1e6, "Parameter for balancing the size of the gap and contact pressure");
66 584 : params.addParam<bool>(
67 : "normalize_c",
68 584 : false,
69 : "Whether to normalize c by weighting function norm. When unnormalized "
70 : "the value of c effectively depends on element size since in the constraint we compare nodal "
71 : "Lagrange Multiplier values to integrated gap values (LM nodal value is independent of "
72 : "element size, where integrated values are dependent on element size).");
73 292 : params.set<bool>("use_displaced_mesh") = true;
74 292 : params.set<bool>("interpolate_normals") = false;
75 292 : return params;
76 0 : }
77 :
78 146 : ComputeDynamicWeightedGapLMMechanicalContact::ComputeDynamicWeightedGapLMMechanicalContact(
79 146 : const InputParameters & parameters)
80 : : ADMortarConstraint(assignVarsInParamsDyn(parameters)),
81 146 : _secondary_disp_x(adCoupledValue("disp_x")),
82 146 : _primary_disp_x(adCoupledNeighborValue("disp_x")),
83 146 : _secondary_disp_y(adCoupledValue("disp_y")),
84 146 : _primary_disp_y(adCoupledNeighborValue("disp_y")),
85 146 : _has_disp_z(isCoupled("disp_z")),
86 146 : _secondary_disp_z(_has_disp_z ? &adCoupledValue("disp_z") : nullptr),
87 146 : _primary_disp_z(_has_disp_z ? &adCoupledNeighborValue("disp_z") : nullptr),
88 292 : _c(getParam<Real>("c")),
89 292 : _normalize_c(getParam<bool>("normalize_c")),
90 146 : _nodal(getVar("disp_x", 0)->feType().family == LAGRANGE),
91 146 : _disp_x_var(getVar("disp_x", 0)),
92 146 : _disp_y_var(getVar("disp_y", 0)),
93 180 : _disp_z_var(_has_disp_z ? getVar("disp_z", 0) : nullptr),
94 146 : _capture_tolerance(getParam<Real>("capture_tolerance")),
95 146 : _secondary_x_dot(adCoupledDot("disp_x")),
96 146 : _primary_x_dot(adCoupledNeighborValueDot("disp_x")),
97 146 : _secondary_y_dot(adCoupledDot("disp_y")),
98 146 : _primary_y_dot(adCoupledNeighborValueDot("disp_y")),
99 146 : _secondary_z_dot(_has_disp_z ? &adCoupledDot("disp_z") : nullptr),
100 146 : _primary_z_dot(_has_disp_z ? &adCoupledNeighborValueDot("disp_z") : nullptr),
101 292 : _has_wear(isParamValid("wear_depth")),
102 187 : _wear_depth(_has_wear ? coupledValueLower("wear_depth") : _zero),
103 292 : _newmark_beta(getParam<Real>("newmark_beta")),
104 584 : _newmark_gamma(getParam<Real>("newmark_gamma"))
105 : {
106 146 : if (!useDual())
107 0 : mooseError("Dynamic mortar contact constraints requires the use of Lagrange multipliers dual "
108 : "interpolation");
109 146 : }
110 :
111 : void
112 801520 : ComputeDynamicWeightedGapLMMechanicalContact::computeQpProperties()
113 : {
114 : // Trim interior node variable derivatives
115 : const auto & primary_ip_lowerd_map = amg().getPrimaryIpToLowerElementMap(
116 801520 : *_lower_primary_elem, *_lower_primary_elem->interior_parent(), *_lower_secondary_elem);
117 : const auto & secondary_ip_lowerd_map =
118 801520 : amg().getSecondaryIpToLowerElementMap(*_lower_secondary_elem);
119 :
120 801520 : std::array<const MooseVariable *, 3> var_array{{_disp_x_var, _disp_y_var, _disp_z_var}};
121 : std::array<ADReal, 3> primary_disp{
122 801520 : {_primary_disp_x[_qp], _primary_disp_y[_qp], _has_disp_z ? (*_primary_disp_z)[_qp] : 0}};
123 801520 : std::array<ADReal, 3> secondary_disp{{_secondary_disp_x[_qp],
124 801520 : _secondary_disp_y[_qp],
125 801520 : _has_disp_z ? (*_secondary_disp_z)[_qp] : 0}};
126 :
127 801520 : trimInteriorNodeDerivatives(primary_ip_lowerd_map, var_array, primary_disp, false);
128 801520 : trimInteriorNodeDerivatives(secondary_ip_lowerd_map, var_array, secondary_disp, true);
129 :
130 : const ADReal & prim_x = primary_disp[0];
131 : const ADReal & prim_y = primary_disp[1];
132 : const ADReal * prim_z = nullptr;
133 801520 : if (_has_disp_z)
134 : prim_z = &primary_disp[2];
135 :
136 : const ADReal & sec_x = secondary_disp[0];
137 : const ADReal & sec_y = secondary_disp[1];
138 : const ADReal * sec_z = nullptr;
139 801520 : if (_has_disp_z)
140 : sec_z = &secondary_disp[2];
141 :
142 : std::array<ADReal, 3> primary_disp_dot{
143 801520 : {_primary_x_dot[_qp], _primary_y_dot[_qp], _has_disp_z ? (*_primary_z_dot)[_qp] : 0}};
144 : std::array<ADReal, 3> secondary_disp_dot{
145 801520 : {_secondary_x_dot[_qp], _secondary_y_dot[_qp], _has_disp_z ? (*_secondary_z_dot)[_qp] : 0}};
146 :
147 801520 : trimInteriorNodeDerivatives(primary_ip_lowerd_map, var_array, primary_disp_dot, false);
148 801520 : trimInteriorNodeDerivatives(secondary_ip_lowerd_map, var_array, secondary_disp_dot, true);
149 :
150 : const ADReal & prim_x_dot = primary_disp_dot[0];
151 : const ADReal & prim_y_dot = primary_disp_dot[1];
152 : const ADReal * prim_z_dot = nullptr;
153 801520 : if (_has_disp_z)
154 : prim_z_dot = &primary_disp_dot[2];
155 :
156 : const ADReal & sec_x_dot = secondary_disp_dot[0];
157 : const ADReal & sec_y_dot = secondary_disp_dot[1];
158 : const ADReal * sec_z_dot = nullptr;
159 801520 : if (_has_disp_z)
160 : sec_z_dot = &secondary_disp_dot[2];
161 :
162 : // Compute dynamic constraint-related quantities
163 801520 : ADRealVectorValue gap_vec = _phys_points_primary[_qp] - _phys_points_secondary[_qp];
164 801520 : gap_vec(0).derivatives() = prim_x.derivatives() - sec_x.derivatives();
165 801520 : gap_vec(1).derivatives() = prim_y.derivatives() - sec_y.derivatives();
166 :
167 801520 : _relative_velocity = ADRealVectorValue(prim_x_dot - sec_x_dot, prim_y_dot - sec_y_dot, 0.0);
168 :
169 801520 : if (_has_disp_z)
170 : {
171 550400 : gap_vec(2).derivatives() = prim_z->derivatives() - sec_z->derivatives();
172 550400 : _relative_velocity(2) = *prim_z_dot - *sec_z_dot;
173 : }
174 :
175 801520 : _qp_gap_nodal = gap_vec * (_JxW_msm[_qp] * _coord[_qp]);
176 801520 : _qp_velocity = _relative_velocity * (_JxW_msm[_qp] * _coord[_qp]);
177 :
178 : // Current part of the gap velocity Newmark-beta time discretization
179 : _qp_gap_nodal_dynamics =
180 801520 : (_newmark_gamma / _newmark_beta * gap_vec / _dt) * (_JxW_msm[_qp] * _coord[_qp]);
181 :
182 : // To do normalization of constraint coefficient (c_n)
183 801520 : _qp_factor = _JxW_msm[_qp] * _coord[_qp];
184 801520 : }
185 :
186 : ADReal
187 0 : ComputeDynamicWeightedGapLMMechanicalContact::computeQpResidual(Moose::MortarType)
188 : {
189 0 : mooseError(
190 : "We should never call computeQpResidual for ComputeDynamicWeightedGapLMMechanicalContact");
191 : }
192 :
193 : void
194 2703840 : ComputeDynamicWeightedGapLMMechanicalContact::computeQpIProperties()
195 : {
196 : mooseAssert(_normals.size() == _lower_secondary_elem->n_nodes(),
197 : "Making sure that _normals is the expected size");
198 :
199 : // Get the _dof_to_weighted_gap map
200 2703840 : const DofObject * dof = _var->isNodal()
201 2703840 : ? static_cast<const DofObject *>(_lower_secondary_elem->node_ptr(_i))
202 0 : : static_cast<const DofObject *>(_lower_secondary_elem);
203 :
204 : // Regular normal contact constraint: Use before contact is established for contact detection
205 5407680 : _dof_to_weighted_gap[dof].first += _test[_i][_qp] * (_qp_gap_nodal * _normals[_i]);
206 :
207 : // Integrated part of the "persistency" constraint
208 5407680 : _dof_to_weighted_gap_dynamics[dof] += _test[_i][_qp] * _qp_gap_nodal_dynamics * _normals[_i];
209 5407680 : _dof_to_velocity[dof] += _test[_i][_qp] * _qp_velocity * _normals[_i];
210 :
211 2703840 : _dof_to_nodal_wear_depth[dof] += _test[_i][_qp] * _wear_depth[_qp] * _JxW_msm[_qp] * _coord[_qp];
212 :
213 2703840 : if (_normalize_c)
214 89920 : _dof_to_weighted_gap[dof].second += _test[_i][_qp] * _qp_factor;
215 2703840 : }
216 :
217 : void
218 640 : ComputeDynamicWeightedGapLMMechanicalContact::timestepSetup()
219 : {
220 : // These dof maps are not recoverable as they are maps of pointers, and recovering old pointers
221 : // would be wrong. We would need to create a custom dataStore() and dataLoad()
222 640 : if (_app.isRecovering())
223 0 : mooseError("This object does not support recovering");
224 :
225 : _dof_to_old_weighted_gap.clear();
226 : _dof_to_old_velocity.clear();
227 : _dof_to_nodal_old_wear_depth.clear();
228 :
229 4300 : for (auto & map_pr : _dof_to_weighted_gap)
230 3660 : _dof_to_old_weighted_gap.emplace(map_pr.first, std::move(map_pr.second.first));
231 :
232 4300 : for (auto & map_pr : _dof_to_velocity)
233 : _dof_to_old_velocity.emplace(map_pr);
234 :
235 4300 : for (auto & map_pr : _dof_to_nodal_wear_depth)
236 : _dof_to_nodal_old_wear_depth.emplace(map_pr);
237 640 : }
238 :
239 : void
240 11137 : ComputeDynamicWeightedGapLMMechanicalContact::residualSetup()
241 : {
242 : _dof_to_weighted_gap.clear();
243 : _dof_to_weighted_gap_dynamics.clear();
244 : _dof_to_velocity.clear();
245 :
246 : // Wear
247 : _dof_to_nodal_wear_depth.clear();
248 11137 : }
249 :
250 : void
251 663 : ComputeDynamicWeightedGapLMMechanicalContact::post()
252 : {
253 663 : Moose::Mortar::Contact::communicateGaps(
254 663 : _dof_to_weighted_gap, _mesh, _nodal, _normalize_c, _communicator, false);
255 :
256 663 : if (_has_wear)
257 0 : communicateWear();
258 :
259 : // There is a need for the dynamic constraint to uncouple the computation of the weighted gap from
260 : // the computation of the constraint itself since we are switching from gap constraint to
261 : // persistency constraint.
262 4578 : for (const auto & pr : _dof_to_weighted_gap)
263 : {
264 3915 : if (pr.first->processor_id() != this->processor_id())
265 : continue;
266 :
267 : //
268 7830 : _dof_to_weighted_gap[pr.first].first += _dof_to_nodal_wear_depth[pr.first];
269 : _dof_to_weighted_gap_dynamics[pr.first] +=
270 7830 : _newmark_gamma / _newmark_beta * _dof_to_nodal_wear_depth[pr.first] / _dt;
271 : //
272 :
273 : const auto is_dof_on_map = _dof_to_old_weighted_gap.find(pr.first);
274 :
275 : // If is_dof_on_map isn't on map, it means it's an initial step
276 4851 : if (is_dof_on_map == _dof_to_old_weighted_gap.end() ||
277 : _dof_to_old_weighted_gap[pr.first] > _capture_tolerance)
278 2979 : _weighted_gap_ptr = &pr.second.first;
279 : else
280 : {
281 1872 : ADReal term = -_newmark_gamma / _newmark_beta / _dt * _dof_to_old_weighted_gap[pr.first];
282 936 : term += _dof_to_old_velocity[pr.first];
283 936 : _dof_to_weighted_gap_dynamics[pr.first] += term;
284 936 : _weighted_gap_ptr = &_dof_to_weighted_gap_dynamics[pr.first];
285 : }
286 :
287 3915 : _normalization_ptr = &pr.second.second;
288 :
289 3915 : ComputeDynamicWeightedGapLMMechanicalContact::enforceConstraintOnDof(pr.first);
290 : }
291 663 : }
292 :
293 : void
294 10474 : ComputeDynamicWeightedGapLMMechanicalContact::incorrectEdgeDroppingPost(
295 : const std::unordered_set<const Node *> & inactive_lm_nodes)
296 : {
297 10474 : Moose::Mortar::Contact::communicateGaps(
298 10474 : _dof_to_weighted_gap, _mesh, _nodal, _normalize_c, _communicator, false);
299 :
300 10474 : if (_has_wear)
301 1667 : communicateWear();
302 :
303 89589 : for (const auto & pr : _dof_to_weighted_gap)
304 : {
305 79115 : if ((inactive_lm_nodes.find(static_cast<const Node *>(pr.first)) != inactive_lm_nodes.end()) ||
306 78693 : (pr.first->processor_id() != this->processor_id()))
307 : continue;
308 :
309 : //
310 155802 : _dof_to_weighted_gap[pr.first].first += _dof_to_nodal_wear_depth[pr.first];
311 : _dof_to_weighted_gap_dynamics[pr.first] +=
312 155802 : _newmark_gamma / _newmark_beta * _dof_to_nodal_wear_depth[pr.first] / _dt;
313 : const auto is_dof_on_map = _dof_to_old_weighted_gap.find(pr.first);
314 :
315 : // If is_dof_on_map isn't on map, it means it's an initial step
316 137503 : if (is_dof_on_map == _dof_to_old_weighted_gap.end() ||
317 : _dof_to_old_weighted_gap[pr.first] > _capture_tolerance)
318 : {
319 : // If this is the first step or the previous step gap is not identified as in contact, apply
320 : // regular conditions
321 60190 : _weighted_gap_ptr = &pr.second.first;
322 : }
323 : else
324 : {
325 17711 : ADReal term = _dof_to_weighted_gap[pr.first].first * _newmark_gamma / (_newmark_beta * _dt);
326 35422 : term -= _dof_to_old_weighted_gap[pr.first] * _newmark_gamma / (_newmark_beta * _dt);
327 17711 : term -= _dof_to_old_velocity[pr.first];
328 17711 : _dof_to_weighted_gap_dynamics[pr.first] = term;
329 : // Enable the application of persistency condition
330 17711 : _weighted_gap_ptr = &_dof_to_weighted_gap_dynamics[pr.first];
331 : }
332 :
333 77901 : _normalization_ptr = &pr.second.second;
334 :
335 77901 : ComputeDynamicWeightedGapLMMechanicalContact::enforceConstraintOnDof(pr.first);
336 : }
337 10474 : }
338 :
339 : void
340 1667 : ComputeDynamicWeightedGapLMMechanicalContact::communicateWear()
341 : {
342 : // We may have wear depth information that should go to other processes that own the dofs
343 : using Datum = std::pair<dof_id_type, ADReal>;
344 : std::unordered_map<processor_id_type, std::vector<Datum>> push_data;
345 :
346 14031 : for (auto & pr : _dof_to_nodal_wear_depth)
347 : {
348 12364 : const auto * const dof_object = pr.first;
349 12364 : const auto proc_id = dof_object->processor_id();
350 12364 : if (proc_id == this->processor_id())
351 12364 : continue;
352 :
353 0 : push_data[proc_id].push_back(std::make_pair(dof_object->id(), std::move(pr.second)));
354 : }
355 :
356 1667 : const auto & lm_mesh = _mesh.getMesh();
357 :
358 0 : auto action_functor = [this, &lm_mesh](const processor_id_type libmesh_dbg_var(pid),
359 : const std::vector<Datum> & sent_data)
360 : {
361 : mooseAssert(pid != this->processor_id(), "We do not send messages to ourself here");
362 0 : for (auto & pr : sent_data)
363 : {
364 0 : const auto dof_id = pr.first;
365 : const auto * const dof_object =
366 0 : _nodal ? static_cast<const DofObject *>(lm_mesh.node_ptr(dof_id))
367 0 : : static_cast<const DofObject *>(lm_mesh.elem_ptr(dof_id));
368 : mooseAssert(dof_object, "This should be non-null");
369 0 : _dof_to_nodal_wear_depth[dof_object] += std::move(pr.second);
370 : }
371 1667 : };
372 :
373 1667 : TIMPI::push_parallel_vector_data(_communicator, push_data, action_functor);
374 1667 : }
375 :
376 : void
377 81816 : ComputeDynamicWeightedGapLMMechanicalContact::enforceConstraintOnDof(const DofObject * const dof)
378 : {
379 81816 : const auto & weighted_gap = *_weighted_gap_ptr;
380 81816 : const Real c = _normalize_c ? _c / *_normalization_ptr : _c;
381 :
382 81816 : const auto dof_index = dof->dof_number(_sys.number(), _var->number(), 0);
383 81816 : ADReal lm_value = (*_sys.currentSolution())(dof_index);
384 : Moose::derivInsert(lm_value.derivatives(), dof_index, 1.);
385 :
386 81816 : const ADReal dof_residual = std::min(lm_value, weighted_gap * c);
387 :
388 81816 : addResidualsAndJacobian(_assembly,
389 163632 : std::array<ADReal, 1>{{dof_residual}},
390 81816 : std::array<dof_id_type, 1>{{dof_index}},
391 81816 : _var->scalingFactor());
392 81816 : }
393 :
394 : void
395 744040 : ComputeDynamicWeightedGapLMMechanicalContact::computeResidual(const Moose::MortarType mortar_type)
396 : {
397 744040 : if (mortar_type != Moose::MortarType::Lower)
398 : return;
399 :
400 : mooseAssert(_var, "LM variable is null");
401 :
402 1064680 : for (_qp = 0; _qp < _qrule_msm->n_points(); _qp++)
403 : {
404 801520 : computeQpProperties();
405 3505360 : for (_i = 0; _i < _test.size(); ++_i)
406 2703840 : computeQpIProperties();
407 : }
408 : }
409 :
410 : void
411 3083 : ComputeDynamicWeightedGapLMMechanicalContact::jacobianSetup()
412 : {
413 3083 : residualSetup();
414 3083 : }
415 :
416 : void
417 221024 : ComputeDynamicWeightedGapLMMechanicalContact::computeJacobian(const Moose::MortarType mortar_type)
418 : {
419 : // During "computeResidual" and "computeJacobian" we are actually just computing properties on the
420 : // mortar segment element mesh. We are *not* actually assembling into the residual/Jacobian. For
421 : // the zero-penetration constraint, the property of interest is the map from node to weighted gap.
422 : // Computation of the properties proceeds identically for residual and Jacobian evaluation hence
423 : // why we simply call computeResidual here. We will assemble into the residual/Jacobian later from
424 : // the post() method
425 221024 : computeResidual(mortar_type);
426 221024 : }
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