feat: adopt lumped mass and reduced-coordinate shell HHT
Integrate Hex8 mass verification and fixed-null-basis shell dynamics with numerical and physics handoff evidence. Preserve interrupted reference and full-validation status; full integration validation is deferred until after performance optimization.
This commit is contained in:
KOKO\Mimi
@@ -2,15 +2,291 @@
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#include <gtest/gtest.h>
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#include <algorithm>
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#include <cmath>
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#include <filesystem>
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#include <fstream>
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#include <iterator>
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#include <optional>
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#include <string>
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#include "fesa/analysis/newton_iteration_log.h"
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#include "fesa/assembly/parallel_for.h"
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#include "fesa/solvers/linear/mkl_pardiso_solver.h"
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#include "fesa/solvers/linear/mkl_pardiso_tangent_solver.h"
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namespace {
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fesa::ModelDefinition MakeDefinition(const bool fixed = true) {
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fesa::Status InjectedTangentFailure() {
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return fesa::Status::Failure(
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fesa::FailureCategory::kSolver,
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{{fesa::Severity::kError, "injected-tangent-backend", {}, "DYNAMIC",
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{}, "Injected tangent backend failure."}});
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}
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class FailingTangent final : public fesa::TangentSolver {
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public:
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fesa::Status FactorizeFresh(const fesa::SparseMatrix&) override {
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return InjectedTangentFailure();
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}
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fesa::Status SolveCorrection(const fesa::Vector&, fesa::Vector&) const override {
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return InjectedTangentFailure();
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}
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};
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std::string FailureText(const fesa::Status& status) {
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std::string result;
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for (const auto& diagnostic : status.Diagnostics()) {
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if (!result.empty()) result += " | ";
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result += diagnostic.code + ": " + diagnostic.message;
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}
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return result;
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}
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fesa::ModelDefinition MakeDefinition(bool fixed = true);
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fesa::ModelDefinition MakeRigidTranslationDefinition() {
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auto definition = MakeDefinition(false);
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const std::filesystem::path source{"dynamic-state.inp"};
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definition.nodes.insert(
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definition.nodes.end(),
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{{{"Shell-B", 50, "0050"}, {2.0, 0.0, 0.0}, {source, 14U}},
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{{"Shell-B", 60, "0060"}, {3.0, 0.0, 0.0}, {source, 15U}},
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{{"Shell-B", 70, "0070"}, {3.0, 1.0, 0.0}, {source, 16U}},
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{{"Shell-B", 80, "0080"}, {2.0, 1.0, 0.0}, {source, 17U}}});
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definition.shell_elements.push_back(
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{{"Shell-B", 19, "0019"}, fesa::ShellSourceElementType::kS4,
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{4U, 5U, 6U, 7U}, 0U, 0U, {source, 18U}});
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for (std::size_t node = 4U; node < 8U; ++node) {
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definition.shell_node_initial_frames.push_back(
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{static_cast<fesa::EntityIndex>(node), {0.0, 0.0, 1.0},
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{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}});
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}
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definition.node_sets[0U] =
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{"All-A", std::string{"Shell-A"}, {0U, 1U, 2U, 3U}, {source, 9U}};
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definition.node_sets.push_back(
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{"All-B", std::string{"Shell-B"}, {4U, 5U, 6U, 7U}, {source, 19U}});
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definition.dynamic_step->loads = {{"All-A", 1, 1.0, {source, 20U}},
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{"All-B", 1, 1.0, {source, 21U}}};
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return definition;
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}
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std::array<double, 3> RotateGlobal(const std::array<double, 3>& value) {
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constexpr double kCosZ = 0.7648421872844885;
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constexpr double kSinZ = 0.6442176872376910;
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constexpr double kCosX = 0.9210609940028851;
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constexpr double kSinX = 0.3894183423086505;
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return {kCosZ * value[0U] - kSinZ * kCosX * value[1U] +
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kSinZ * kSinX * value[2U],
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kSinZ * value[0U] + kCosZ * kCosX * value[1U] -
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kCosZ * kSinX * value[2U],
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kSinX * value[1U] + kCosX * value[2U]};
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}
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fesa::ModelDefinition MakeRotatedRigidTranslationDefinition() {
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auto definition = MakeRigidTranslationDefinition();
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for (auto& node : definition.nodes) node.coordinates = RotateGlobal(node.coordinates);
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for (auto& frame : definition.shell_node_initial_frames) {
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frame.director = RotateGlobal(frame.director);
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frame.tangent_a = RotateGlobal(frame.tangent_a);
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frame.tangent_b = RotateGlobal(frame.tangent_b);
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}
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const auto load = RotateGlobal({1.0, 0.0, 0.0});
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const std::filesystem::path source{"dynamic-state.inp"};
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definition.dynamic_step->loads = {{"All-A", 1, load[0U], {source, 22U}},
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{"All-A", 2, load[1U], {source, 23U}},
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{"All-A", 3, load[2U], {source, 24U}},
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{"All-B", 1, load[0U], {source, 25U}},
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{"All-B", 2, load[1U], {source, 26U}},
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{"All-B", 3, load[2U], {source, 27U}}};
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return definition;
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}
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fesa::ModelDefinition MakeFiniteRotationDefinition() {
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auto definition = MakeDefinition(false);
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definition.dynamic_step->initial_increment = 0.01;
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definition.dynamic_step->time_period = 0.02;
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definition.dynamic_step->increment_count = 2U;
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definition.dynamic_step->loads = {
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{"Loaded", 3, 1.0, {"dynamic-state.inp", 23U}}};
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return definition;
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}
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fesa::ModelDefinition MakeRotatedFiniteRotationDefinition() {
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auto definition = MakeFiniteRotationDefinition();
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for (auto& node : definition.nodes) node.coordinates = RotateGlobal(node.coordinates);
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for (auto& frame : definition.shell_node_initial_frames) {
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frame.director = RotateGlobal(frame.director);
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frame.tangent_a = RotateGlobal(frame.tangent_a);
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frame.tangent_b = RotateGlobal(frame.tangent_b);
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}
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const auto load = RotateGlobal({0.0, 0.0, 1.0});
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const std::filesystem::path source{"dynamic-state.inp"};
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definition.dynamic_step->loads = {{"Loaded", 1, load[0U], {source, 24U}},
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{"Loaded", 2, load[1U], {source, 25U}},
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{"Loaded", 3, load[2U], {source, 26U}}};
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return definition;
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}
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struct RigidTranslationRun {
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fesa::DynamicExecutionResult execution;
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std::string log;
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};
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void ExpectSameSourceIds(const std::vector<fesa::SourceEntityId>& left,
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const std::vector<fesa::SourceEntityId>& right) {
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ASSERT_EQ(left.size(), right.size());
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for (std::size_t i = 0U; i < left.size(); ++i) {
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EXPECT_EQ(left[i].instance_name, right[i].instance_name);
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EXPECT_EQ(left[i].source_label, right[i].source_label);
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EXPECT_EQ(left[i].source_label_text, right[i].source_label_text);
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}
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}
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fesa::Result<RigidTranslationRun> RunRigidTranslation(
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const fesa::ModelDefinition& definition, const fesa::ParallelFor& parallel,
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const std::string& label) {
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auto domain = fesa::Domain::Create(definition);
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if (!domain.HasValue()) return fesa::Result<RigidTranslationRun>::Failure(
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domain.GetStatus());
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fesa::MklPardisoSolver mass;
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fesa::MklPardisoTangentSolver tangent;
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fesa::NewtonIterationLogWriter log;
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const auto path = std::filesystem::temp_directory_path() /
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("fesa-hht-rigid-" + label + ".log");
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auto status = log.Open(path);
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if (!status.IsOk()) return fesa::Result<RigidTranslationRun>::Failure(status);
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auto result = fesa::HhtDynamicProcedureExecutor(parallel, mass, tangent)
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.Execute(domain.Value(), log);
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status = log.Close();
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std::string log_text;
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{
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std::ifstream input{path, std::ios::binary};
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log_text.assign(std::istreambuf_iterator<char>{input}, {});
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}
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std::filesystem::remove(path);
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if (!status.IsOk()) return fesa::Result<RigidTranslationRun>::Failure(status);
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if (!result.HasValue()) return fesa::Result<RigidTranslationRun>::Failure(
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result.GetStatus());
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return fesa::Result<RigidTranslationRun>::Success(
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{std::move(result.Value()), log_text});
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}
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void ExpectSameDynamicHistory(const RigidTranslationRun& left,
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const RigidTranslationRun& right) {
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EXPECT_EQ(left.log, right.log);
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const auto& left_frames = left.execution.state.AcceptedFrames();
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const auto& right_frames = right.execution.state.AcceptedFrames();
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ASSERT_EQ(left_frames.size(), right_frames.size());
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for (std::size_t frame = 0U; frame < left_frames.size(); ++frame) {
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const auto& lhs = left_frames[frame];
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const auto& rhs = right_frames[frame];
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EXPECT_EQ(lhs.time, rhs.time);
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EXPECT_EQ(lhs.iteration_count, rhs.iteration_count);
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EXPECT_EQ(lhs.nodal_internal_order, rhs.nodal_internal_order);
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ExpectSameSourceIds(lhs.nodal_source_ids, rhs.nodal_source_ids);
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EXPECT_EQ(lhs.nodal_triad, rhs.nodal_triad);
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EXPECT_EQ(lhs.nodal_director, rhs.nodal_director);
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for (const auto* values : {&lhs.generalized_coordinates, &lhs.velocity,
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&lhs.acceleration, &lhs.algorithmic_acceleration,
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&lhs.inertia_force, &lhs.internal_force,
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&lhs.external_force, &lhs.residual, &lhs.reaction}) {
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const auto* other = values == &lhs.generalized_coordinates
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? &rhs.generalized_coordinates
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: values == &lhs.velocity ? &rhs.velocity
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: values == &lhs.acceleration ? &rhs.acceleration
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: values == &lhs.algorithmic_acceleration
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? &rhs.algorithmic_acceleration
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: values == &lhs.inertia_force ? &rhs.inertia_force
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: values == &lhs.internal_force ? &rhs.internal_force
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: values == &lhs.external_force ? &rhs.external_force
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: values == &lhs.residual ? &rhs.residual
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: &rhs.reaction;
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ASSERT_EQ(values->Size(), other->Size());
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for (std::size_t i = 0U; i < values->Size(); ++i)
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EXPECT_DOUBLE_EQ((*values)[i], (*other)[i]);
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}
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EXPECT_DOUBLE_EQ(lhs.kinetic_energy, rhs.kinetic_energy);
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EXPECT_DOUBLE_EQ(lhs.physical_strain_energy, rhs.physical_strain_energy);
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EXPECT_DOUBLE_EQ(lhs.drilling_energy, rhs.drilling_energy);
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EXPECT_DOUBLE_EQ(lhs.external_work, rhs.external_work);
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EXPECT_DOUBLE_EQ(lhs.energy_defect, rhs.energy_defect);
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}
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}
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void ExpectRotatedDofVector(const fesa::Vector& source, const fesa::Vector& target,
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const double scale) {
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ASSERT_EQ(source.Size(), target.Size());
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ASSERT_EQ(source.Size() % 6U, 0U);
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for (std::size_t node = 0U; node < source.Size() / 6U; ++node)
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for (const std::size_t offset : {0U, 3U}) {
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const auto rotated = RotateGlobal(
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{source[6U * node + offset], source[6U * node + offset + 1U],
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source[6U * node + offset + 2U]});
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for (std::size_t component = 0U; component < 3U; ++component)
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EXPECT_LE(std::abs(rotated[component] -
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target[6U * node + offset + component]) /
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scale,
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1e-10);
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}
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}
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void ExpectCovariantDynamicHistory(const RigidTranslationRun& original,
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const RigidTranslationRun& rotated,
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const double time_scale,
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const double reference_energy) {
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constexpr double kCoordinateScale = 1.0;
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const double velocity_scale = kCoordinateScale / time_scale;
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const double acceleration_scale = kCoordinateScale / (time_scale * time_scale);
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const auto& original_frames = original.execution.state.AcceptedFrames();
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const auto& rotated_frames = rotated.execution.state.AcceptedFrames();
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ASSERT_EQ(original_frames.size(), rotated_frames.size());
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for (std::size_t frame = 0U; frame < original_frames.size(); ++frame) {
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const auto& source = original_frames[frame];
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const auto& target = rotated_frames[frame];
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ExpectSameSourceIds(source.nodal_source_ids, target.nodal_source_ids);
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EXPECT_LE(std::abs(source.kinetic_energy - target.kinetic_energy) /
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reference_energy,
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1e-10);
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EXPECT_LE(std::abs(source.physical_strain_energy -
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target.physical_strain_energy) /
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reference_energy,
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1e-10);
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EXPECT_LE(std::abs(source.drilling_energy - target.drilling_energy) /
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reference_energy,
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1e-10);
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ExpectRotatedDofVector(source.generalized_coordinates,
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target.generalized_coordinates, kCoordinateScale);
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ExpectRotatedDofVector(source.velocity, target.velocity, velocity_scale);
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ExpectRotatedDofVector(source.acceleration, target.acceleration,
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acceleration_scale);
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ExpectRotatedDofVector(source.algorithmic_acceleration,
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target.algorithmic_acceleration, acceleration_scale);
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for (const auto* values : {&source.inertia_force, &source.internal_force,
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&source.external_force, &source.residual,
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&source.reaction}) {
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const auto* other = values == &source.inertia_force ? &target.inertia_force
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: values == &source.internal_force ? &target.internal_force
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: values == &source.external_force ? &target.external_force
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: values == &source.residual ? &target.residual
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: &target.reaction;
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ExpectRotatedDofVector(*values, *other, 1.0);
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}
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for (std::size_t node = 0U; node < source.nodal_triad.size(); ++node)
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for (std::size_t row = 0U; row < 3U; ++row) {
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const auto triad = RotateGlobal(source.nodal_triad[node][row]);
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const auto director = RotateGlobal(source.nodal_director[node]);
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for (std::size_t component = 0U; component < 3U; ++component) {
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EXPECT_LE(std::abs(triad[component] -
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target.nodal_triad[node][row][component]),
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1e-10);
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EXPECT_LE(std::abs(director[component] -
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target.nodal_director[node][component]),
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1e-10);
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}
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}
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}
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}
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fesa::ModelDefinition MakeDefinition(const bool fixed) {
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const std::filesystem::path source{"dynamic-state.inp"};
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fesa::ModelDefinition definition{};
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definition.source_path = source;
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@@ -71,6 +347,8 @@ TEST(HhtDynamicProcedure, ClampedStepLoadHasPhysicalReactionAndZeroMotion) {
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: result.GetStatus().Diagnostics().front().message);
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ASSERT_EQ(result.Value().state.AcceptedFrames().size(), 3U);
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for (const auto& frame : result.Value().state.AcceptedFrames()) {
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EXPECT_EQ(frame.time_integration_formulation,
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fesa::DynamicTimeIntegrationFormulation::kReducedCoordinateHht);
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EXPECT_EQ(frame.iteration_count, 0U);
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EXPECT_DOUBLE_EQ(frame.reaction[2U], -4.0);
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EXPECT_DOUBLE_EQ(frame.external_force[2U], 4.0);
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@@ -113,6 +391,8 @@ TEST(HhtDynamicProcedure, UnloadedFreeChannelsRemainExactlyAtRest) {
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: result.GetStatus().Diagnostics().front().message);
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ASSERT_EQ(result.Value().state.AcceptedFrames().size(), 3U);
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for (const auto& frame : result.Value().state.AcceptedFrames()) {
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EXPECT_EQ(frame.time_integration_formulation,
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fesa::DynamicTimeIntegrationFormulation::kReducedCoordinateHht);
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EXPECT_EQ(frame.iteration_count, 0U);
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for (const auto* values :
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{&frame.generalized_coordinates, &frame.velocity,
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@@ -167,7 +447,125 @@ TEST(HhtDynamicProcedure, LargeDirectStepStartsFromAcceptedGeometry) {
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result.Value().state.CommittedState().free_residual_metrics)
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EXPECT_LE(metric, 1e-10);
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EXPECT_GT(result.Value().state.CommittedState().iteration_count, 0U);
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const auto& frames = result.Value().state.AcceptedFrames();
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const double alpha = domain.Value().Dynamic()->alpha;
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for (std::size_t frame_index = 1U; frame_index < frames.size(); ++frame_index) {
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const auto& frame = frames[frame_index];
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EXPECT_EQ(frame.time_integration_formulation,
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fesa::DynamicTimeIntegrationFormulation::kReducedCoordinateHht);
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for (std::size_t dof = 0U; dof < frame.acceleration.Size(); ++dof) {
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EXPECT_DOUBLE_EQ(frame.algorithmic_acceleration[dof],
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(1.0 + alpha) * frame.acceleration[dof] -
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alpha * frames[frame_index - 1U].acceleration[dof]);
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}
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}
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std::filesystem::remove(path);
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}
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TEST(HhtDynamicProcedure, PreservesBackendCauseAndAddsInitialFailureContext) {
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auto definition = MakeDefinition(false);
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definition.dynamic_step->dynamic_location = {"dynamic-state.inp", 13U};
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auto domain = fesa::Domain::Create(std::move(definition));
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ASSERT_TRUE(domain.HasValue());
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fesa::SerialParallelFor parallel;
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fesa::MklPardisoSolver mass;
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FailingTangent tangent;
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fesa::NewtonIterationLogWriter log;
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const auto path =
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std::filesystem::temp_directory_path() / "fesa-hht-context.log";
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ASSERT_TRUE(log.Open(path).IsOk());
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const auto result = fesa::HhtDynamicProcedureExecutor(parallel, mass, tangent)
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.Execute(domain.Value(), log);
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ASSERT_TRUE(log.Close().IsOk());
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std::filesystem::remove(path);
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ASSERT_FALSE(result.HasValue());
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ASSERT_FALSE(result.GetStatus().Diagnostics().empty());
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EXPECT_EQ(result.GetStatus().Diagnostics().front().code,
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"injected-tangent-backend");
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const auto found = std::find_if(
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result.GetStatus().Diagnostics().begin(), result.GetStatus().Diagnostics().end(),
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[](const fesa::Diagnostic& diagnostic) {
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return diagnostic.code == "dynamic-procedure-context";
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});
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ASSERT_NE(found, result.GetStatus().Diagnostics().end());
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EXPECT_EQ(found->location.file, std::filesystem::path{"dynamic-state.inp"});
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EXPECT_EQ(found->location.line, 13U);
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EXPECT_EQ(found->entity_identity, "Transient Load");
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EXPECT_NE(found->message.find("stage=initial"), std::string::npos);
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EXPECT_NE(found->message.find("increment=0"), std::string::npos);
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EXPECT_NE(found->message.find("time=0"), std::string::npos);
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}
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TEST(HhtDynamicProcedure,
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UniformTranslationHasNoShellStrainAndIsDeterministicAcrossPartitions) {
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const auto definition = MakeRigidTranslationDefinition();
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const auto rotated_definition = MakeRotatedRigidTranslationDefinition();
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const auto finite_rotation_definition = MakeFiniteRotationDefinition();
|
||||
const auto rotated_finite_rotation_definition =
|
||||
MakeRotatedFiniteRotationDefinition();
|
||||
const fesa::SerialParallelFor serial;
|
||||
const fesa::TbbParallelFor tbb;
|
||||
auto first = RunRigidTranslation(definition, serial, "serial-first");
|
||||
auto partitioned = RunRigidTranslation(definition, tbb, "tbb");
|
||||
auto second = RunRigidTranslation(definition, serial, "serial-second");
|
||||
auto rotated = RunRigidTranslation(rotated_definition, serial, "rotated");
|
||||
auto finite_rotation = RunRigidTranslation(finite_rotation_definition, serial,
|
||||
"finite-rotation");
|
||||
auto rotated_finite_rotation = RunRigidTranslation(
|
||||
rotated_finite_rotation_definition, serial, "rotated-finite-rotation");
|
||||
ASSERT_TRUE(first.HasValue())
|
||||
<< (first.HasValue() ? "" : FailureText(first.GetStatus()));
|
||||
ASSERT_TRUE(partitioned.HasValue())
|
||||
<< (partitioned.HasValue() ? "" : FailureText(partitioned.GetStatus()));
|
||||
ASSERT_TRUE(second.HasValue())
|
||||
<< (second.HasValue() ? "" : FailureText(second.GetStatus()));
|
||||
ASSERT_TRUE(rotated.HasValue())
|
||||
<< (rotated.HasValue() ? "" : FailureText(rotated.GetStatus()));
|
||||
ASSERT_TRUE(finite_rotation.HasValue())
|
||||
<< (finite_rotation.HasValue() ? "" : FailureText(finite_rotation.GetStatus()));
|
||||
ASSERT_TRUE(rotated_finite_rotation.HasValue())
|
||||
<< (rotated_finite_rotation.HasValue()
|
||||
? ""
|
||||
: FailureText(rotated_finite_rotation.GetStatus()));
|
||||
ExpectSameDynamicHistory(first.Value(), partitioned.Value());
|
||||
ExpectSameDynamicHistory(first.Value(), second.Value());
|
||||
ExpectCovariantDynamicHistory(first.Value(), rotated.Value(), 0.5,
|
||||
2.0 * 1000.0 * 0.1);
|
||||
ExpectCovariantDynamicHistory(finite_rotation.Value(),
|
||||
rotated_finite_rotation.Value(), 0.02,
|
||||
1000.0 * 0.1);
|
||||
const auto& frames = first.Value().execution.state.AcceptedFrames();
|
||||
ASSERT_EQ(frames.size(), 3U);
|
||||
constexpr double kReferenceEnergy = 2.0 * 1000.0 * 0.1;
|
||||
constexpr double kCoordinateScale = 1.0;
|
||||
for (const auto& frame : frames) {
|
||||
EXPECT_LE(std::abs(frame.physical_strain_energy) / kReferenceEnergy, 1e-10);
|
||||
EXPECT_LE(std::abs(frame.drilling_energy) / kReferenceEnergy, 1e-10);
|
||||
for (std::size_t node = 1U; node < 8U; ++node)
|
||||
EXPECT_LE(std::abs(frame.generalized_coordinates[6U * node] -
|
||||
frame.generalized_coordinates[0U]) /
|
||||
kCoordinateScale,
|
||||
1e-12);
|
||||
for (std::size_t node = 0U; node < 8U; ++node) {
|
||||
EXPECT_LE(std::abs(frame.generalized_coordinates[6U * node + 1U]) /
|
||||
kCoordinateScale,
|
||||
1e-12);
|
||||
EXPECT_LE(std::abs(frame.generalized_coordinates[6U * node + 2U]) /
|
||||
kCoordinateScale,
|
||||
1e-12);
|
||||
for (std::size_t rotation = 3U; rotation < 6U; ++rotation)
|
||||
EXPECT_LE(std::abs(frame.generalized_coordinates[6U * node + rotation]),
|
||||
1e-12);
|
||||
}
|
||||
}
|
||||
EXPECT_GT(frames.back().generalized_coordinates[0U], 0.0);
|
||||
double maximum_rotation = 0.0;
|
||||
for (const auto& frame : finite_rotation.Value().execution.state.AcceptedFrames())
|
||||
for (std::size_t node = 0U; node < 4U; ++node)
|
||||
for (std::size_t component = 3U; component < 6U; ++component)
|
||||
maximum_rotation = (std::max)(
|
||||
maximum_rotation, std::abs(frame.generalized_coordinates[6U * node + component]));
|
||||
EXPECT_GT(maximum_rotation, 0.0);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
Reference in New Issue
Block a user