feat(nonlinear-static-newton-raphson): step 11 - equilibrium-projection-and-reference-gate
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KOKO\Mimi
@@ -3,14 +3,21 @@
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#include <gtest/gtest.h>
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#include <hdf5.h>
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#include <algorithm>
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#include <array>
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#include <atomic>
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#include <chrono>
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#include <cmath>
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#include <cstdint>
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#include <filesystem>
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#include <fstream>
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#include <stdexcept>
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#include <string>
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#include <vector>
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#include "fesa/elements/finite_rotation.h"
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#include "fesa/math/vector3.h"
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namespace {
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class TempDirectory {
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@@ -83,6 +90,53 @@ All, 1, 6
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)inp";
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}
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std::string NonzeroPrescribedNonlinearShellDeck() {
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return R"inp(*Part, name=ShellPart
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*Node
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1, 0., 0., 0.
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2, 1., 0., 0.
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3, 1., 1., 0.
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4, 0., 1., 0.
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*Element, type=S4
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1, 1, 2, 3, 4
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*Elset, elset=ShellSet
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1
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*Shell Section, elset=ShellSet, material=Steel
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0.1
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*End Part
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*Assembly, name=Assembly
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*Instance, name=Shell-1, part=ShellPart
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*End Instance
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*Nset, nset=N1, instance=Shell-1
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1
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*Nset, nset=N2, instance=Shell-1
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2
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*Nset, nset=N3, instance=Shell-1
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3
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*Nset, nset=N4, instance=Shell-1
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4
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*End Assembly
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*Material, name=Steel
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*Elastic
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1000., 0.25
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*Boundary
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N1, 1, 6
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N2, 1, 1, 0.2
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N2, 2, 3
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N2, 4, 4, 0.3
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N2, 5, 6
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N3, 1, 6
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N4, 1, 6
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*Step, name=Step-1, nlgeom=YES
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*Static
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0.1, 1., 0.001, 0.1
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*Cload
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N2, 3, -3.
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N2, 4, 2.
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*End Step
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)inp";
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}
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class Hdf5File {
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public:
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explicit Hdf5File(const std::filesystem::path& path)
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@@ -129,6 +183,112 @@ std::string ReadStringAttribute(const hid_t object, const char* name) {
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return result;
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}
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std::vector<double> ReadNodalDataset(const Hdf5File& file,
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const std::string& path) {
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const hid_t dataset = H5Dopen2(file.Get(), path.c_str(), H5P_DEFAULT);
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if (dataset < 0) {
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throw std::runtime_error{"Unable to open nonlinear nodal dataset."};
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}
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std::vector<double> values(24U);
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const herr_t read = H5Dread(dataset, H5T_NATIVE_DOUBLE, H5S_ALL, H5S_ALL,
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H5P_DEFAULT, values.data());
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(void)H5Dclose(dataset);
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if (read < 0 || !std::all_of(values.begin(), values.end(),
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[](const double value) {
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return std::isfinite(value);
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})) {
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throw std::runtime_error{"Unable to read nonlinear nodal dataset."};
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}
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return values;
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}
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std::vector<std::uint8_t> ReadConstraintMask(const Hdf5File& file) {
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const hid_t dataset =
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H5Dopen2(file.Get(), "/model/nodal_constraint_mask", H5P_DEFAULT);
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if (dataset < 0) {
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throw std::runtime_error{"Unable to open nonlinear constraint mask."};
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}
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std::vector<std::uint8_t> values(24U);
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const herr_t read = H5Dread(dataset, H5T_NATIVE_UINT8, H5S_ALL, H5S_ALL,
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H5P_DEFAULT, values.data());
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(void)H5Dclose(dataset);
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if (read < 0 || !std::all_of(values.begin(), values.end(),
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[](const std::uint8_t value) {
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return value <= 1U;
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})) {
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throw std::runtime_error{"Unable to read nonlinear constraint mask."};
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}
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return values;
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}
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fesa::Vector3 SpatialMoment(const fesa::Vector3& phi,
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const fesa::Vector3& generalized) {
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const fesa::Matrix transform = fesa::InverseTransposeLeftJacobianSO3(phi);
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return {transform(0U, 0U) * generalized.X() +
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transform(0U, 1U) * generalized.Y() +
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transform(0U, 2U) * generalized.Z(),
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transform(1U, 0U) * generalized.X() +
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transform(1U, 1U) * generalized.Y() +
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transform(1U, 2U) * generalized.Z(),
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transform(2U, 0U) * generalized.X() +
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transform(2U, 1U) * generalized.Y() +
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transform(2U, 2U) * generalized.Z()};
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}
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std::array<double, 6> ReconstructGlobalBalance(const Hdf5File& file) {
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const std::string root = "/steps/Step-1/frames/9/nodal/";
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const auto displacement = ReadNodalDataset(file, root + "displacement");
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const auto external =
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ReadNodalDataset(file, root + "generalized_external_force");
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const auto residual =
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ReadNodalDataset(file, root + "generalized_residual");
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const auto mask = ReadConstraintMask(file);
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const std::array<fesa::Vector3, 4> initial_positions{
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fesa::Vector3{0.0, 0.0, 0.0}, fesa::Vector3{1.0, 0.0, 0.0},
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fesa::Vector3{1.0, 1.0, 0.0}, fesa::Vector3{0.0, 1.0, 0.0}};
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fesa::Vector3 applied_force_resultant;
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fesa::Vector3 applied_moment_resultant;
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fesa::Vector3 reaction_force_resultant;
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fesa::Vector3 reaction_moment_resultant;
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for (std::size_t node = 0U; node < initial_positions.size(); ++node) {
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const std::size_t offset = node * 6U;
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const fesa::Vector3 current_position =
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initial_positions[node] +
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fesa::Vector3{displacement[offset], displacement[offset + 1U],
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displacement[offset + 2U]};
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const fesa::Vector3 applied_force{external[offset], external[offset + 1U],
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external[offset + 2U]};
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const fesa::Vector3 reaction_force{
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mask[offset] == 1U ? residual[offset] : 0.0,
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mask[offset + 1U] == 1U ? residual[offset + 1U] : 0.0,
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mask[offset + 2U] == 1U ? residual[offset + 2U] : 0.0};
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const fesa::Vector3 phi{displacement[offset + 3U],
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displacement[offset + 4U],
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displacement[offset + 5U]};
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const fesa::Vector3 applied_moment = SpatialMoment(
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phi, {external[offset + 3U], external[offset + 4U],
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external[offset + 5U]});
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const fesa::Vector3 reaction_moment = SpatialMoment(
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phi, {mask[offset + 3U] == 1U ? residual[offset + 3U] : 0.0,
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mask[offset + 4U] == 1U ? residual[offset + 4U] : 0.0,
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mask[offset + 5U] == 1U ? residual[offset + 5U] : 0.0});
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applied_force_resultant = applied_force_resultant + applied_force;
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applied_moment_resultant =
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applied_moment_resultant + current_position.Cross(applied_force) +
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applied_moment;
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reaction_force_resultant = reaction_force_resultant + reaction_force;
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reaction_moment_resultant =
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reaction_moment_resultant + current_position.Cross(reaction_force) +
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reaction_moment;
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}
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const fesa::Vector3 force_balance =
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applied_force_resultant + reaction_force_resultant;
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const fesa::Vector3 moment_balance =
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applied_moment_resultant + reaction_moment_resultant;
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return {force_balance.X(), force_balance.Y(), force_balance.Z(),
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moment_balance.X(), moment_balance.Y(), moment_balance.Z()};
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}
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// NSNR-PROC-004, NSNR-PROC-007, and NSNR-PROC-010.
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TEST(NonlinearStaticProcedure,
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AllConstrainedNlgeomRunWritesSchemaV1AfterAcceptedFrames) {
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@@ -154,4 +314,33 @@ TEST(NonlinearStaticProcedure,
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0);
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}
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// NSNR-PROC-019.
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TEST(NonlinearStaticProcedure,
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NonzeroPrescribedMotionWritesCurrentArmSpatialAppliedPlusReactionBalance) {
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TempDirectory directory{"current-arm-balance"};
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const auto input = directory.Path() / "shellnl-current-arm.inp";
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const auto output = directory.Path() / "shellnl-current-arm_results.h5";
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WriteText(input, NonzeroPrescribedNonlinearShellDeck());
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testing::internal::CaptureStderr();
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const int exit_code = fesa::FesaApplication{}.Run({input.string()});
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const std::string standard_error = testing::internal::GetCapturedStderr();
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ASSERT_EQ(exit_code, 0) << standard_error;
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const Hdf5File file{output};
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const hid_t dataset = H5Dopen2(
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file.Get(), "/steps/Step-1/frames/9/global/equilibrium", H5P_DEFAULT);
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ASSERT_GE(dataset, 0);
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std::array<double, 6> actual{};
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ASSERT_GE(H5Dread(dataset, H5T_NATIVE_DOUBLE, H5S_ALL, H5S_ALL,
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H5P_DEFAULT, actual.data()),
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0);
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(void)H5Dclose(dataset);
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const auto expected = ReconstructGlobalBalance(file);
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for (std::size_t component = 0U; component < actual.size(); ++component) {
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EXPECT_NEAR(actual[component], expected[component], 1.0e-10)
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<< "component=" << component;
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}
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}
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} // namespace
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