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feat: implement consistent-mass HHT shell dynamics

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This commit is contained in:
KOKO\Mimi
2026-09-22 21:38:42 +09:00
parent fec8cf09c2
commit f0dc42a280
41 changed files with 9294 additions and 125 deletions
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include/fesa/elements/nonlinear_mitc4_shell.h
+15 -2
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@@ -43,6 +43,16 @@ struct NonlinearMitc4InternalEquilibrium {
Vector internal_force;
NonlinearMitc4Recovery recovery;
double physical_strain_energy;
Vector physical_force{0U};
Vector drilling_force{0U};
Matrix drilling_tangent{0U, 0U};
Matrix drilling_metric{0U, 0U};
double drilling_energy = 0.0;
Vector force_directional_second{0U};
Vector drilling_constraint{0U};
Matrix drilling_constraint_gradient{0U, 0U};
std::array<Matrix, 4> drilling_constraint_hessian{
Matrix{0U, 0U}, Matrix{0U, 0U}, Matrix{0U, 0U}, Matrix{0U, 0U}};
};
class NonlinearMitc4Shell;
@@ -50,11 +60,13 @@ class NonlinearMitc4Shell;
/// @brief Evaluates the internal residual and tangent at one complete trial.
/// @param element Immutable nonlinear MITC4 reference evaluator.
/// @param trial Complete global translation and rotation trial coordinates.
/// @param coordinate_direction Optional 24-vector for D2(f_int)[v,v].
/// @return Internal force, consistent tangent and physical recovery, or
/// failure.
/// @note External load vectors and their tangents are intentionally excluded.
Result<NonlinearMitc4InternalEquilibrium> EvaluateInternalResidualAndTangent(
const NonlinearMitc4Shell& element, const NonlinearMitc4TrialDofs& trial);
const NonlinearMitc4Shell& element, const NonlinearMitc4TrialDofs& trial,
const Vector* coordinate_direction = nullptr);
/// @brief Evaluates fixed-reference Total Lagrangian MITC4 kinematics.
/// @note This class owns no mutable trial or accepted analysis state.
@@ -94,7 +106,8 @@ class NonlinearMitc4Shell {
friend Result<NonlinearMitc4InternalEquilibrium>
EvaluateInternalResidualAndTangent(const NonlinearMitc4Shell& element,
const NonlinearMitc4TrialDofs& trial);
const NonlinearMitc4TrialDofs& trial,
const Vector* coordinate_direction);
std::array<Vector3, 4> coordinates_;
std::array<Matrix, 4> initial_frames_;