XBeam.hpp

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// This file is part of GranOO, a workbench for DEM simulation.
//
// Author(s)    : - Damien Andre       IRCER/UNILIM, Limoges France
//                  <damien.andre@unilim.fr>
//                - Jean-luc Charles   Arts et Metiers ParisTech, CNRS, I2M, Bordeaux France
//                  <jean-luc.charles@ensam.eu>
//                - Jeremie Girardot   Arts et Metiers ParisTech, CNRS, I2M, Bordeaux France
//                  <jeremie.girardot@ensam.eu>
//                - Cedric Hubert      LAMIH/UPHF, Valenciennes France
//                  <cedric.hubert@uphf.fr>
//                - Ivan Iordanoff     Arts et Metiers ParisTech, CNRS, I2M, Bordeaux France
//                  <ivan.iordanoff@ensam.eu>
//
// Copyright (C) 2008-2019 D. Andre, JL. Charles, J. Girardot, C. Hubert, I. Iordanoff
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
#ifndef XBeam_hpp
#define XBeam_hpp
 
#include "GranOO3/3rdParty/Eigen/Dense"
 
#include "GranOO3/DEM/Bond.hpp"
#include "GranOO3/DEM/Element.hpp"
 
namespace GranOO3
{
  namespace DEM
  {
    
    class XBeam : public Bond,
          public Core::Register<XBeam>,
          public Physic::CriticalTimeStep {
 
      GRANOO_CLASS(DEM::XBeam, Bond);
 
    public:
      XBeam(Element& el1, Element& el2);
      XBeam(Element& el1, Element& el2, double young_mod, double radius, double poisson_ratio, double max_stress = 0.);
      XBeam(Element& el1, Element& el2, double young_mod, double damping, double radius, double poisson_ratio, double max_stress, bool nl_geom = false);
      virtual ~XBeam();
 
    public:
      virtual void compute_load();
      virtual double compute_critical_time_step() const;
      virtual void stiffness_matrix(Eigen::MatrixXd& kMatrix);
      virtual void update_dof();
      virtual std::string info() const;
      virtual void draw();
 
      //ACCESSORS
      GRANOO_ACCESS(young_modulus , double, _young_modulus);
      GRANOO_ACCESS(damping_factor, double, _damping_factor);
      GRANOO_ACCESS(radius        , double, _radius);
      GRANOO_ACCESS(poisson_ratio , double, _poisson_ratio);
      GRANOO_ACCESS(max_stress    , double, _max_stress);
 
      GRANOO_ACCESS_GET_COPY(section, double, M_PI*pow(_radius,2));
      GRANOO_ACCESS_GET_COPY(inertia, double, M_PI*pow(_radius*2.,4)/64.);
      GRANOO_ACCESS_GET_COPY(traction_stiffness, double, _young_modulus*get_section()/_relaxed_length);
      GRANOO_ACCESS_GET_COPY(flexion_stiffness , double, 2.*_young_modulus*get_inertia()/_relaxed_length);
 
      GRANOO_ACCESS_GET(tensile_energy   , double, _tensile_energy );
      GRANOO_ACCESS_GET(shear_energy     , double, _shear_energy   );
      GRANOO_ACCESS_GET(torsion_energy   , double, _torsion_energy );
      GRANOO_ACCESS_GET(bending_energy   , double, _bending_energy );
      GRANOO_ACCESS_GET_COPY(total_energy, double, _tensile_energy+_torsion_energy+_bending_energy+_shear_energy);
 
      GRANOO_ACCESS_GET(current_stress        , double, _current_stress         );
      GRANOO_ACCESS_GET(current_tensile_stress, double, _current_tensile_stress );
      GRANOO_ACCESS_GET(current_bending_stress, double, _current_bending_stress );
      GRANOO_ACCESS_GET(current_torsion_stress, double, _current_torsion_stress );
      GRANOO_ACCESS_GET(current_normal_stress , double, _current_normal_stress  );
 
    private:
      void update();
      void build_transformation_matrix();
      void build_local_stiffness_matrix();
      void on_matrix_from_xdir(const Geom::Vector& xDir, const Geom::Vector& yDir, Eigen::Matrix3d& rotMatrix) const;
      void rot_matrix_to_quaternion(const Eigen::Matrix3d& rotMatrix, Geom::Quaternion& quaternion) const;
      void quaternion_to_rot_matrix(const Geom::Quaternion& quaternion, Eigen::Matrix3d& rotMatrix) const;
      
 
    private:
      XBeam() = delete;
      XBeam(const XBeam &frame) = delete;
      XBeam & operator = (const XBeam &) = delete;
 
    private:
      //SERIALIZATION
      friend class boost::serialization::access;
      template<class Archive> void save(Archive &, const unsigned int ) const;
      template<class Archive> void load(Archive &, const unsigned int);
      BOOST_SERIALIZATION_SPLIT_MEMBER();
 
    protected:
      //Parameter
      double _young_modulus;
      double _damping_factor;
      double _radius;
      double _poisson_ratio;
      double _max_stress;
      
      double _current_stress;
      double _current_tensile_stress;
      double _current_bending_stress;
      double _current_torsion_stress;
      double _current_normal_stress;
      
      //Deformation energies
      double _tensile_energy;
      double _shear_energy;
      double _torsion_energy;
      double _bending_energy;
      
      // We store here coefficient values to speedup the computation
      // Note that this value must be updated if the setting of the beam
      // are changed (radius, relaxed length and so on...)
      double _Ig, _Io, _G, _S, _K;
      
    private:
      bool         _nl_geom;
      Geom::Vector _xAxis;
      double       _ldFactor;
      double       _adFactor;
 
      Geom::Quaternion _qbeam_ref_rot;
      Geom::Quaternion _qbeam_abs_rot;
      Geom::Quaternion _qel1_ref_rot;
      Geom::Quaternion _qel2_ref_rot;
      Eigen::MatrixXd _local_kmat;
      Eigen::MatrixXd _tmat;
      Eigen::MatrixXd _global_kmat;
      Eigen::VectorXd _reaction;
      Eigen::Matrix3d _mbeam_abs_rot;
      Eigen::Matrix3d _mbeam_ref_rot;
    };
 
    template<class Archive> void
    XBeam::save(Archive &ar, const unsigned int v) const {
      ar << boost::serialization::base_object<Bond>(*this);
      ar << _young_modulus;
      ar << _damping_factor;
      ar << _radius;
      ar << _poisson_ratio;
      ar << _max_stress;
      ar << _current_stress;
      ar << _current_tensile_stress;
      ar << _current_bending_stress;
      ar << _current_torsion_stress;
      ar << _current_normal_stress;
      ar << _tensile_energy;
      ar << _shear_energy;
      ar << _torsion_energy;
      ar << _bending_energy;
    }
 
    template<class Archive> void
    XBeam::load(Archive &ar, const unsigned int v) {
      ar >> boost::serialization::base_object<Bond>(*this);
      ar >> _young_modulus;
      ar >> _damping_factor;
      ar >> _radius;
      ar >> _poisson_ratio;
      ar >> _max_stress;
      ar >> _current_stress;
      ar >> _current_tensile_stress;
      ar >> _current_bending_stress;
      ar >> _current_torsion_stress;
      ar >> _current_normal_stress;
      ar >> _tensile_energy;
      ar >> _shear_energy;
      ar >> _torsion_energy;
      ar >> _bending_energy;
    }
 
    inline void
    XBeam::draw() {
#ifndef SERVER
      Bond::draw();
#endif
    }
 
  }
}
 
#include <boost/serialization/version.hpp>
BOOST_CLASS_VERSION(GranOO3::DEM::XBeam, 0)
 
namespace boost
{
 
  namespace serialization
  {
 
    template<class Archive> void
    save_construct_data(Archive &ar, const GranOO3::DEM::XBeam *t, const unsigned int) {
      const GranOO3::DEM::Element* el1 = &t->get_element1();
      const GranOO3::DEM::Element* el2 = &t->get_element2();
      ar << el1;
      ar << el2;
    }
 
    template<class Archive> void
    load_construct_data(Archive &ar, GranOO3::DEM::XBeam *t, const unsigned int) {
      GranOO3::DEM::Element *el1 = nullptr;
      GranOO3::DEM::Element *el2 = nullptr;
      ar >> el1;
      ar >> el2;
      ::new(t)GranOO3::DEM::XBeam(*el1, *el2);
    }
 
  }
}
 
namespace GranOO3 {
  GRANOO_CLASS_DECLARE_TPL(DEM::XBeam);
}
 
#endif