baram2584/FESADev
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
Files
d550e13e776c1a9099ee123d721cb7871465c8b2
FESADev/include/fesa/fesa.hpp
T
NINI d550e13e77 feat: add mitc4 covariant strain tying
2026-05-04 22:02:25 +09:00

2187 lines
80 KiB
C++
Raw Blame History

#pragma once
#include <algorithm>
#include <array>
#include <cctype>
#include <cmath>
#include <cstdint>
#include <fstream>
#include <initializer_list>
#include <limits>
#include <map>
#include <memory>
#include <optional>
#include <set>
#include <sstream>
#include <stdexcept>
#include <string>
#include <utility>
#include <vector>
namespace fesa {
using Real = double;
using GlobalId = std::int64_t;
using LocalIndex = std::int64_t;
using EquationId = std::int64_t;
using SparseIndex = std::int64_t;
enum class Severity { Info, Warning, Error };
struct SourceLocation {
std::string file;
LocalIndex line = 0;
std::string keyword;
};
struct Diagnostic {
Severity severity = Severity::Error;
std::string code;
std::string message;
SourceLocation source;
};
inline bool hasError(const std::vector<Diagnostic>& diagnostics) {
return std::any_of(diagnostics.begin(), diagnostics.end(), [](const Diagnostic& diagnostic) {
return diagnostic.severity == Severity::Error;
});
}
inline bool containsDiagnostic(const std::vector<Diagnostic>& diagnostics, const std::string& code) {
return std::any_of(diagnostics.begin(), diagnostics.end(), [&](const Diagnostic& diagnostic) {
return diagnostic.code == code;
});
}
inline Diagnostic makeDiagnostic(Severity severity, std::string code, std::string message, std::string keyword,
std::string file = "<domain>", LocalIndex line = 0) {
return {severity, std::move(code), std::move(message), {std::move(file), line, std::move(keyword)}};
}
inline std::string trim(std::string text) {
auto is_space = [](unsigned char c) { return std::isspace(c) != 0; };
text.erase(text.begin(), std::find_if(text.begin(), text.end(), [&](unsigned char c) { return !is_space(c); }));
text.erase(std::find_if(text.rbegin(), text.rend(), [&](unsigned char c) { return !is_space(c); }).base(), text.end());
return text;
}
inline std::string lower(std::string text) {
std::transform(text.begin(), text.end(), text.begin(), [](unsigned char c) {
return static_cast<char>(std::tolower(c));
});
return text;
}
inline std::vector<std::string> splitCsv(const std::string& line) {
std::vector<std::string> fields;
std::string field;
std::istringstream stream(line);
while (std::getline(stream, field, ',')) {
fields.push_back(trim(field));
}
if (!line.empty() && line.back() == ',') {
fields.emplace_back();
}
return fields;
}
inline std::optional<Real> parseReal(std::string token) {
token = trim(token);
if (token.empty()) {
return std::nullopt;
}
std::replace(token.begin(), token.end(), 'D', 'E');
std::replace(token.begin(), token.end(), 'd', 'e');
try {
std::size_t used = 0;
Real value = std::stod(token, &used);
if (used != token.size()) {
return std::nullopt;
}
return value;
} catch (...) {
return std::nullopt;
}
}
inline std::optional<GlobalId> parseInt64(const std::string& token) {
std::string value_text = trim(token);
if (value_text.empty()) {
return std::nullopt;
}
try {
std::size_t used = 0;
long long value = std::stoll(value_text, &used);
if (used != value_text.size()) {
return std::nullopt;
}
return static_cast<GlobalId>(value);
} catch (...) {
return std::nullopt;
}
}
enum class Dof : int { UX = 0, UY = 1, UZ = 2, RX = 3, RY = 4, RZ = 5 };
inline std::array<Dof, 6> allDofs() {
return {Dof::UX, Dof::UY, Dof::UZ, Dof::RX, Dof::RY, Dof::RZ};
}
inline int dofIndex(Dof dof) {
return static_cast<int>(dof);
}
inline int abaqusDofNumber(Dof dof) {
return dofIndex(dof) + 1;
}
inline std::optional<Dof> dofFromAbaqus(int dof) {
if (dof < 1 || dof > 6) {
return std::nullopt;
}
return static_cast<Dof>(dof - 1);
}
inline const char* dofLabel(Dof dof) {
switch (dof) {
case Dof::UX:
return "UX";
case Dof::UY:
return "UY";
case Dof::UZ:
return "UZ";
case Dof::RX:
return "RX";
case Dof::RY:
return "RY";
case Dof::RZ:
return "RZ";
}
return "";
}
inline std::vector<std::string> displacementComponentLabels() {
return {"UX", "UY", "UZ", "RX", "RY", "RZ"};
}
inline std::vector<std::string> reactionComponentLabels() {
return {"RFX", "RFY", "RFZ", "RMX", "RMY", "RMZ"};
}
struct Vec3 {
Real x = 0.0;
Real y = 0.0;
Real z = 0.0;
};
inline Vec3 operator+(const Vec3& a, const Vec3& b) {
return {a.x + b.x, a.y + b.y, a.z + b.z};
}
inline Vec3 operator-(const Vec3& a, const Vec3& b) {
return {a.x - b.x, a.y - b.y, a.z - b.z};
}
inline Vec3 operator*(Real scalar, const Vec3& value) {
return {scalar * value.x, scalar * value.y, scalar * value.z};
}
inline Real dot(const Vec3& a, const Vec3& b) {
return a.x * b.x + a.y * b.y + a.z * b.z;
}
inline Vec3 cross(const Vec3& a, const Vec3& b) {
return {a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x};
}
inline Real norm(const Vec3& value) {
return std::sqrt(dot(value, value));
}
inline bool isFinite(Real value) {
return std::isfinite(value);
}
inline bool isFinite(const Vec3& value) {
return isFinite(value.x) && isFinite(value.y) && isFinite(value.z);
}
inline std::optional<Vec3> normalizedIfValid(const Vec3& value, Real tolerance = 1.0e-12) {
const Real length = norm(value);
if (!isFinite(length) || length <= tolerance) {
return std::nullopt;
}
return (1.0 / length) * value;
}
inline Vec3 normalized(const Vec3& value) {
const Real length = norm(value);
if (length <= std::numeric_limits<Real>::epsilon()) {
throw std::runtime_error("zero-length vector");
}
return (1.0 / length) * value;
}
struct Node {
GlobalId id = 0;
Vec3 coordinates;
};
enum class ElementType { MITC4 };
struct Element {
GlobalId id = 0;
ElementType type = ElementType::MITC4;
std::array<GlobalId, 4> node_ids{};
std::string source_elset;
};
struct NodeSet {
std::string name;
std::vector<GlobalId> node_ids;
};
struct ElementSet {
std::string name;
std::vector<GlobalId> element_ids;
};
struct Material {
std::string name;
Real elastic_modulus = 0.0;
Real poisson_ratio = 0.0;
};
struct ShellSection {
std::string element_set;
std::string material;
Real thickness = 0.0;
};
struct BoundaryCondition {
std::string target;
int first_dof = 0;
int last_dof = 0;
Real magnitude = 0.0;
};
struct NodalLoad {
std::string target;
int dof = 0;
Real magnitude = 0.0;
};
struct StepDefinition {
std::string name = "Step-1";
std::string analysis_type = "linear_static";
};
struct Domain {
std::map<GlobalId, Node> nodes;
std::map<GlobalId, Element> elements;
std::map<std::string, NodeSet> node_sets;
std::map<std::string, ElementSet> element_sets;
std::map<std::string, Material> materials;
std::vector<ShellSection> shell_sections;
std::vector<BoundaryCondition> boundary_conditions;
std::vector<NodalLoad> loads;
std::vector<StepDefinition> steps;
static std::string key(const std::string& label) {
return lower(trim(label));
}
};
inline void addUnique(std::vector<GlobalId>& values, GlobalId value) {
if (std::find(values.begin(), values.end(), value) == values.end()) {
values.push_back(value);
}
}
inline std::vector<GlobalId> generatedRange(GlobalId first, GlobalId last, GlobalId increment) {
std::vector<GlobalId> values;
if (increment <= 0) {
return values;
}
for (GlobalId value = first; value <= last; value += increment) {
values.push_back(value);
}
return values;
}
struct KeywordLine {
std::string name;
std::map<std::string, std::string> parameters;
std::set<std::string> flags;
};
inline KeywordLine parseKeywordLine(const std::string& line) {
KeywordLine keyword;
std::vector<std::string> pieces = splitCsv(line.substr(1));
if (pieces.empty()) {
return keyword;
}
keyword.name = lower(trim(pieces.front()));
for (std::size_t i = 1; i < pieces.size(); ++i) {
const std::string piece = trim(pieces[i]);
if (piece.empty()) {
continue;
}
const auto eq = piece.find('=');
if (eq == std::string::npos) {
keyword.flags.insert(lower(piece));
} else {
keyword.parameters[lower(trim(piece.substr(0, eq)))] = trim(piece.substr(eq + 1));
}
}
return keyword;
}
struct ParseResult {
Domain domain;
std::vector<Diagnostic> diagnostics;
bool ok() const {
return !hasError(diagnostics);
}
};
class AbaqusInputParser {
public:
ParseResult parseString(const std::string& text, const std::string& file_name = "<memory>") const {
ParseResult result;
std::istringstream stream(text);
std::string line;
KeywordLine current;
std::string current_material_key;
KeywordLine current_shell_section;
LocalIndex line_number = 0;
LocalIndex current_keyword_line = 0;
auto add_error = [&](const std::string& code, const std::string& message) {
const LocalIndex source_line = current_keyword_line == 0 ? line_number : current_keyword_line;
result.diagnostics.push_back({Severity::Error, code, message, {file_name, source_line, current.name}});
};
auto is_allowed = [](const std::string& value, std::initializer_list<const char*> allowed_values) {
return std::any_of(allowed_values.begin(), allowed_values.end(), [&](const char* allowed) {
return value == allowed;
});
};
auto reject_unsupported_controls = [&](std::initializer_list<const char*> allowed_parameters,
std::initializer_list<const char*> allowed_flags) {
for (const auto& [parameter, value] : current.parameters) {
(void)value;
if (!is_allowed(parameter, allowed_parameters)) {
const LocalIndex source_line = current_keyword_line == 0 ? line_number : current_keyword_line;
result.diagnostics.push_back({Severity::Error,
"FESA-PARSE-UNSUPPORTED-PARAMETER",
"Unsupported *" + current.name + " parameter: " + parameter,
{file_name, source_line, current.name}});
}
}
for (const std::string& flag : current.flags) {
if (!is_allowed(flag, allowed_flags)) {
const LocalIndex source_line = current_keyword_line == 0 ? line_number : current_keyword_line;
result.diagnostics.push_back({Severity::Error,
"FESA-PARSE-UNSUPPORTED-PARAMETER",
"Unsupported *" + current.name + " flag: " + flag,
{file_name, source_line, current.name}});
}
}
};
while (std::getline(stream, line)) {
++line_number;
line = trim(line);
if (line.empty() || line.rfind("**", 0) == 0) {
continue;
}
if (!line.empty() && line.front() == '*') {
current_keyword_line = line_number;
std::string keyword_line = line;
while (!keyword_line.empty() && keyword_line.back() == ',') {
std::string continuation;
if (!std::getline(stream, continuation)) {
break;
}
++line_number;
continuation = trim(continuation);
if (continuation.empty() || continuation.rfind("**", 0) == 0) {
continue;
}
keyword_line += continuation;
}
current = parseKeywordLine(keyword_line);
if (current.name == "node") {
reject_unsupported_controls({}, {});
continue;
}
if (current.name == "element") {
reject_unsupported_controls({"type", "elset"}, {});
continue;
}
if (current.name == "nset") {
reject_unsupported_controls({"nset"}, {"generate"});
continue;
}
if (current.name == "elset") {
reject_unsupported_controls({"elset"}, {"generate"});
continue;
}
if (current.name == "elastic") {
reject_unsupported_controls({}, {});
continue;
}
if (current.name == "shell section") {
reject_unsupported_controls({"elset", "material"}, {});
current_shell_section = current;
continue;
}
if (current.name == "boundary" || current.name == "cload" || current.name == "static") {
reject_unsupported_controls({}, {});
continue;
}
if (current.name == "material") {
reject_unsupported_controls({"name"}, {});
auto name_it = current.parameters.find("name");
if (name_it == current.parameters.end() || trim(name_it->second).empty()) {
add_error("FESA-PARSE-MATERIAL-NAME", "*Material requires NAME");
current_material_key.clear();
continue;
}
Material material;
material.name = trim(name_it->second);
current_material_key = Domain::key(material.name);
if (result.domain.materials.count(current_material_key) != 0) {
add_error("FESA-PARSE-DUPLICATE-MATERIAL", "Duplicate material: " + material.name);
} else {
result.domain.materials[current_material_key] = material;
}
continue;
}
if (current.name == "step") {
reject_unsupported_controls({"name", "nlgeom"}, {});
auto nlgeom = current.parameters.find("nlgeom");
if (nlgeom != current.parameters.end() && lower(trim(nlgeom->second)) == "yes") {
add_error("FESA-PARSE-UNSUPPORTED-NLGEOM", "NLGEOM=YES is not supported in Phase 1");
}
StepDefinition step;
auto name_it = current.parameters.find("name");
if (name_it != current.parameters.end() && !trim(name_it->second).empty()) {
step.name = trim(name_it->second);
}
result.domain.steps.push_back(step);
continue;
}
if (current.name == "end step") {
reject_unsupported_controls({}, {});
continue;
}
add_error("FESA-PARSE-UNSUPPORTED-KEYWORD", "Unsupported keyword: *" + current.name);
continue;
}
const std::vector<std::string> fields = splitCsv(line);
if (current.name == "node") {
parseNode(fields, result, file_name, line_number);
} else if (current.name == "element") {
parseElement(fields, current, result, file_name, line_number);
} else if (current.name == "nset") {
parseNodeSet(fields, current, result, file_name, line_number);
} else if (current.name == "elset") {
parseElementSet(fields, current, result, file_name, line_number);
} else if (current.name == "elastic") {
parseElastic(fields, current_material_key, result, file_name, line_number);
} else if (current.name == "shell section") {
parseShellSection(fields, current_shell_section, result, file_name, line_number);
} else if (current.name == "boundary") {
parseBoundary(fields, result, file_name, line_number);
} else if (current.name == "cload") {
parseLoad(fields, result, file_name, line_number);
}
}
if (result.domain.steps.empty()) {
result.domain.steps.push_back({"Step-1", "linear_static"});
}
return result;
}
ParseResult parseFile(const std::string& path) const {
std::ifstream input(path);
std::ostringstream buffer;
buffer << input.rdbuf();
ParseResult result = parseString(buffer.str(), path);
if (!input.good() && buffer.str().empty()) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-FILE", "Could not read input file", {path, 0, ""}});
}
return result;
}
private:
static std::size_t effectiveFieldCount(const std::vector<std::string>& fields) {
std::size_t count = fields.size();
while (count > 0 && trim(fields[count - 1]).empty()) {
--count;
}
return count;
}
static void parseNode(const std::vector<std::string>& fields, ParseResult& result, const std::string& file_name, LocalIndex line) {
if (effectiveFieldCount(fields) != 4) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-NODE", "*Node data requires id,x,y,z", {file_name, line, "node"}});
return;
}
auto id = parseInt64(fields[0]);
auto x = parseReal(fields[1]);
auto y = parseReal(fields[2]);
auto z = parseReal(fields[3]);
if (!id || !x || !y || !z) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-NODE-NUMERIC", "Invalid node numeric field", {file_name, line, "node"}});
return;
}
if (result.domain.nodes.count(*id) != 0) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-DUPLICATE-NODE", "Duplicate node id", {file_name, line, "node"}});
return;
}
result.domain.nodes[*id] = {*id, {*x, *y, *z}};
}
static void parseElement(const std::vector<std::string>& fields, const KeywordLine& keyword, ParseResult& result, const std::string& file_name, LocalIndex line) {
auto type_it = keyword.parameters.find("type");
if (type_it == keyword.parameters.end()) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-ELEMENT-TYPE", "*Element requires TYPE", {file_name, line, "element"}});
return;
}
const std::string type = lower(trim(type_it->second));
if (type != "s4") {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-UNSUPPORTED-ELEMENT", "Unsupported element type: " + type_it->second, {file_name, line, "element"}});
return;
}
if (effectiveFieldCount(fields) != 5) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-ELEMENT", "S4 element requires id,n1,n2,n3,n4", {file_name, line, "element"}});
return;
}
auto id = parseInt64(fields[0]);
std::array<GlobalId, 4> nodes{};
bool ok = id.has_value();
for (int i = 0; i < 4; ++i) {
auto node = parseInt64(fields[1 + static_cast<std::size_t>(i)]);
ok = ok && node.has_value();
if (node) {
nodes[static_cast<std::size_t>(i)] = *node;
}
}
if (!ok) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-ELEMENT-NUMERIC", "Invalid element numeric field", {file_name, line, "element"}});
return;
}
if (result.domain.elements.count(*id) != 0) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-DUPLICATE-ELEMENT", "Duplicate element id", {file_name, line, "element"}});
return;
}
Element element;
element.id = *id;
element.node_ids = nodes;
auto elset_it = keyword.parameters.find("elset");
if (elset_it != keyword.parameters.end()) {
element.source_elset = trim(elset_it->second);
auto& set = result.domain.element_sets[Domain::key(element.source_elset)];
set.name = element.source_elset;
addUnique(set.element_ids, *id);
}
result.domain.elements[*id] = element;
}
static void parseNodeSet(const std::vector<std::string>& fields, const KeywordLine& keyword, ParseResult& result, const std::string& file_name, LocalIndex line) {
auto name_it = keyword.parameters.find("nset");
if (name_it == keyword.parameters.end()) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-NSET-NAME", "*Nset requires NSET", {file_name, line, "nset"}});
return;
}
auto& set = result.domain.node_sets[Domain::key(name_it->second)];
set.name = trim(name_it->second);
parseSetData(fields, keyword.flags.count("generate") != 0, set.node_ids, result.diagnostics, file_name, line, "nset");
}
static void parseElementSet(const std::vector<std::string>& fields, const KeywordLine& keyword, ParseResult& result, const std::string& file_name, LocalIndex line) {
auto name_it = keyword.parameters.find("elset");
if (name_it == keyword.parameters.end()) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-ELSET-NAME", "*Elset requires ELSET", {file_name, line, "elset"}});
return;
}
auto& set = result.domain.element_sets[Domain::key(name_it->second)];
set.name = trim(name_it->second);
parseSetData(fields, keyword.flags.count("generate") != 0, set.element_ids, result.diagnostics, file_name, line, "elset");
}
static void parseSetData(const std::vector<std::string>& fields, bool generate, std::vector<GlobalId>& output,
std::vector<Diagnostic>& diagnostics, const std::string& file_name, LocalIndex line, const std::string& keyword) {
if (generate) {
const std::size_t field_count = effectiveFieldCount(fields);
if (field_count != 3) {
diagnostics.push_back({Severity::Error, "FESA-PARSE-GENERATE", "Generated set requires first,last,increment", {file_name, line, keyword}});
return;
}
auto first = parseInt64(fields[0]);
auto last = parseInt64(fields[1]);
auto increment = parseInt64(fields[2]);
if (!first || !last || !increment || *increment <= 0) {
diagnostics.push_back({Severity::Error, "FESA-PARSE-GENERATE", "Invalid generated set range", {file_name, line, keyword}});
return;
}
for (GlobalId value : generatedRange(*first, *last, *increment)) {
addUnique(output, value);
}
return;
}
const std::size_t field_count = effectiveFieldCount(fields);
for (std::size_t i = 0; i < field_count; ++i) {
const std::string& field = fields[i];
if (trim(field).empty()) {
continue;
}
auto value = parseInt64(field);
if (!value) {
diagnostics.push_back({Severity::Error, "FESA-PARSE-SET-NUMERIC", "Invalid set id", {file_name, line, keyword}});
return;
}
addUnique(output, *value);
}
}
static void parseElastic(const std::vector<std::string>& fields, const std::string& material_key, ParseResult& result, const std::string& file_name, LocalIndex line) {
if (material_key.empty() || result.domain.materials.count(material_key) == 0) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-ELASTIC-MATERIAL", "*Elastic must follow *Material", {file_name, line, "elastic"}});
return;
}
const std::size_t field_count = effectiveFieldCount(fields);
if (field_count < 2) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-ELASTIC", "*Elastic requires E,nu", {file_name, line, "elastic"}});
return;
}
if (field_count > 2) {
result.diagnostics.push_back(
{Severity::Error, "FESA-PARSE-ELASTIC-UNSUPPORTED", "Only isotropic E,nu elastic data is supported", {file_name, line, "elastic"}});
return;
}
auto e = parseReal(fields[0]);
auto nu = parseReal(fields[1]);
if (!e || !nu || *e <= 0.0 || *nu <= -1.0 || *nu >= 0.5) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-ELASTIC-RANGE", "Invalid isotropic elastic constants", {file_name, line, "elastic"}});
return;
}
result.domain.materials[material_key].elastic_modulus = *e;
result.domain.materials[material_key].poisson_ratio = *nu;
}
static void parseShellSection(const std::vector<std::string>& fields, const KeywordLine& keyword, ParseResult& result, const std::string& file_name, LocalIndex line) {
auto elset_it = keyword.parameters.find("elset");
auto material_it = keyword.parameters.find("material");
if (elset_it == keyword.parameters.end() || material_it == keyword.parameters.end()) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-SHELL-SECTION-PARAM", "*Shell Section requires ELSET and MATERIAL", {file_name, line, "shell section"}});
return;
}
const std::size_t field_count = effectiveFieldCount(fields);
if (field_count == 0) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-SHELL-SECTION", "*Shell Section requires thickness", {file_name, line, "shell section"}});
return;
}
if (field_count > 1) {
result.diagnostics.push_back({Severity::Error,
"FESA-PARSE-SHELL-SECTION-UNSUPPORTED",
"Only homogeneous shell thickness data is supported",
{file_name, line, "shell section"}});
return;
}
auto thickness = parseReal(fields[0]);
if (!thickness || *thickness <= 0.0) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-SHELL-THICKNESS", "Shell thickness must be positive", {file_name, line, "shell section"}});
return;
}
result.domain.shell_sections.push_back({trim(elset_it->second), trim(material_it->second), *thickness});
}
static void parseBoundary(const std::vector<std::string>& fields, ParseResult& result, const std::string& file_name, LocalIndex line) {
const std::size_t field_count = effectiveFieldCount(fields);
if (field_count < 2) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-BOUNDARY", "*Boundary requires target,first_dof", {file_name, line, "boundary"}});
return;
}
if (field_count > 4) {
result.diagnostics.push_back({Severity::Error,
"FESA-PARSE-BOUNDARY-UNSUPPORTED",
"Only direct zero-valued boundary data is supported",
{file_name, line, "boundary"}});
return;
}
auto first = parseInt64(fields[1]);
auto last = field_count >= 3 && !fields[2].empty() ? parseInt64(fields[2]) : first;
auto magnitude = field_count >= 4 && !fields[3].empty() ? parseReal(fields[3]) : std::optional<Real>(0.0);
if (!first || !last || !magnitude || !dofFromAbaqus(static_cast<int>(*first)) || !dofFromAbaqus(static_cast<int>(*last)) || *first > *last) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-BOUNDARY-DOF", "Invalid boundary DOF range", {file_name, line, "boundary"}});
return;
}
if (std::fabs(*magnitude) > 0.0) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-BOUNDARY-NONZERO", "Nonzero prescribed displacement is not supported in Phase 1", {file_name, line, "boundary"}});
return;
}
result.domain.boundary_conditions.push_back({trim(fields[0]), static_cast<int>(*first), static_cast<int>(*last), *magnitude});
}
static void parseLoad(const std::vector<std::string>& fields, ParseResult& result, const std::string& file_name, LocalIndex line) {
const std::size_t field_count = effectiveFieldCount(fields);
if (field_count < 3) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-CLOAD", "*Cload requires target,dof,magnitude", {file_name, line, "cload"}});
return;
}
if (field_count > 3) {
result.diagnostics.push_back({Severity::Error,
"FESA-PARSE-CLOAD-UNSUPPORTED",
"Only direct concentrated load data is supported",
{file_name, line, "cload"}});
return;
}
auto dof = parseInt64(fields[1]);
auto magnitude = parseReal(fields[2]);
if (!dof || !magnitude || !dofFromAbaqus(static_cast<int>(*dof))) {
result.diagnostics.push_back({Severity::Error, "FESA-PARSE-CLOAD-DOF", "Invalid concentrated load", {file_name, line, "cload"}});
return;
}
result.domain.loads.push_back({trim(fields[0]), static_cast<int>(*dof), *magnitude});
}
};
inline std::optional<GlobalId> numericTarget(const std::string& target) {
return parseInt64(target);
}
inline std::vector<GlobalId> resolveNodeTarget(const Domain& domain, const std::string& target, std::vector<Diagnostic>* diagnostics = nullptr,
const std::string& diagnostic_keyword = "node target") {
if (auto node_id = numericTarget(target)) {
if (domain.nodes.count(*node_id) == 0) {
if (diagnostics != nullptr) {
diagnostics->push_back(
makeDiagnostic(Severity::Error, "FESA-VALIDATION-MISSING-NODE", "Missing node target: " + target, diagnostic_keyword));
}
return {};
}
return {*node_id};
}
auto set_it = domain.node_sets.find(Domain::key(target));
if (set_it == domain.node_sets.end()) {
if (diagnostics != nullptr) {
diagnostics->push_back(
makeDiagnostic(Severity::Error, "FESA-VALIDATION-MISSING-NSET", "Missing node set: " + target, diagnostic_keyword));
}
return {};
}
return set_it->second.node_ids;
}
inline const ShellSection* shellSectionForElement(const Domain& domain, GlobalId element_id) {
for (const ShellSection& section : domain.shell_sections) {
auto set_it = domain.element_sets.find(Domain::key(section.element_set));
if (set_it == domain.element_sets.end()) {
continue;
}
if (std::find(set_it->second.element_ids.begin(), set_it->second.element_ids.end(), element_id) != set_it->second.element_ids.end()) {
return &section;
}
}
return nullptr;
}
inline std::string dofNameOrNumber(int abaqus_dof) {
auto dof = dofFromAbaqus(abaqus_dof);
if (dof) {
return dofLabel(*dof);
}
return "DOF " + std::to_string(abaqus_dof);
}
inline bool validAbaqusDofRange(int first, int last) {
return dofFromAbaqus(first).has_value() && dofFromAbaqus(last).has_value() && first <= last;
}
inline std::vector<Diagnostic> validateDomain(const Domain& domain) {
std::vector<Diagnostic> diagnostics;
if (domain.elements.empty()) {
diagnostics.push_back(makeDiagnostic(Severity::Error, "FESA-SINGULAR-NO-ACTIVE-ELEMENTS",
"No active elements exist in the current model", "analysis model"));
}
if (domain.boundary_conditions.empty()) {
diagnostics.push_back(makeDiagnostic(Severity::Warning, "FESA-SINGULAR-NO-BOUNDARY", "No boundary constraints are defined", "boundary"));
}
for (const auto& [set_key, set] : domain.node_sets) {
(void)set_key;
for (GlobalId node_id : set.node_ids) {
if (domain.nodes.count(node_id) == 0) {
diagnostics.push_back(makeDiagnostic(Severity::Error, "FESA-VALIDATION-NSET-MISSING-NODE",
"Node set " + set.name + " references missing node " + std::to_string(node_id),
"nset"));
}
}
}
for (const auto& [set_key, set] : domain.element_sets) {
(void)set_key;
for (GlobalId element_id : set.element_ids) {
if (domain.elements.count(element_id) == 0) {
diagnostics.push_back(makeDiagnostic(Severity::Error, "FESA-VALIDATION-ELSET-MISSING-ELEMENT",
"Element set " + set.name + " references missing element " + std::to_string(element_id),
"elset"));
}
}
}
for (const auto& [id, element] : domain.elements) {
for (GlobalId node_id : element.node_ids) {
if (domain.nodes.count(node_id) == 0) {
diagnostics.push_back(makeDiagnostic(Severity::Error, "FESA-VALIDATION-ELEMENT-MISSING-NODE",
"Element " + std::to_string(id) + " references missing node " + std::to_string(node_id),
"element"));
}
}
const ShellSection* section = shellSectionForElement(domain, id);
if (section == nullptr) {
diagnostics.push_back(makeDiagnostic(Severity::Error, "FESA-VALIDATION-MISSING-PROPERTY",
"Element " + std::to_string(id) + " has no assigned shell section", "element"));
}
}
for (const ShellSection& section : domain.shell_sections) {
if (section.thickness <= 0.0 || !std::isfinite(section.thickness)) {
diagnostics.push_back(makeDiagnostic(Severity::Error, "FESA-VALIDATION-NONPOSITIVE-THICKNESS",
"Shell section for element set " + section.element_set + " has non-positive thickness",
"shell section"));
}
if (domain.element_sets.count(Domain::key(section.element_set)) == 0) {
diagnostics.push_back(makeDiagnostic(Severity::Error, "FESA-VALIDATION-MISSING-ELSET",
"Shell section references missing element set: " + section.element_set, "shell section"));
}
auto material_it = domain.materials.find(Domain::key(section.material));
if (material_it == domain.materials.end()) {
diagnostics.push_back(makeDiagnostic(Severity::Error, "FESA-VALIDATION-MISSING-MATERIAL",
"Shell section references missing material: " + section.material, "shell section"));
} else if (material_it->second.elastic_modulus <= 0.0) {
diagnostics.push_back(makeDiagnostic(Severity::Error, "FESA-VALIDATION-INCOMPLETE-MATERIAL",
"Material has no valid elastic constants: " + section.material, "material"));
}
}
for (const BoundaryCondition& boundary : domain.boundary_conditions) {
if (!validAbaqusDofRange(boundary.first_dof, boundary.last_dof)) {
diagnostics.push_back(makeDiagnostic(Severity::Error, "FESA-VALIDATION-BOUNDARY-DOF",
"Boundary target " + boundary.target + " has invalid DOF range " +
dofNameOrNumber(boundary.first_dof) + " to " + dofNameOrNumber(boundary.last_dof),
"boundary"));
}
(void)resolveNodeTarget(domain, boundary.target, &diagnostics, "boundary");
}
for (const NodalLoad& load : domain.loads) {
if (!dofFromAbaqus(load.dof)) {
diagnostics.push_back(makeDiagnostic(Severity::Error, "FESA-VALIDATION-CLOAD-DOF",
"Load target " + load.target + " has invalid " + dofNameOrNumber(load.dof), "cload"));
}
(void)resolveNodeTarget(domain, load.target, &diagnostics, "cload");
}
const bool any_nonzero_load = std::any_of(domain.loads.begin(), domain.loads.end(), [](const NodalLoad& load) {
return std::fabs(load.magnitude) > 0.0;
});
if (!any_nonzero_load) {
diagnostics.push_back(makeDiagnostic(Severity::Warning, "FESA-SINGULAR-NO-NONZERO-LOAD", "No nonzero load is defined", "cload"));
}
std::set<std::pair<GlobalId, int>> constrained_dofs;
for (const BoundaryCondition& boundary : domain.boundary_conditions) {
if (!validAbaqusDofRange(boundary.first_dof, boundary.last_dof)) {
continue;
}
for (GlobalId node_id : resolveNodeTarget(domain, boundary.target)) {
if (domain.nodes.count(node_id) == 0) {
continue;
}
for (int dof = boundary.first_dof; dof <= boundary.last_dof; ++dof) {
constrained_dofs.insert(std::make_pair(node_id, dof - 1));
}
}
}
std::set<GlobalId> active_connectivity_nodes;
for (const auto& [element_id, element] : domain.elements) {
(void)element_id;
for (GlobalId node_id : element.node_ids) {
if (domain.nodes.count(node_id) != 0) {
active_connectivity_nodes.insert(node_id);
}
}
}
LocalIndex free_dof_count = 0;
LocalIndex weak_drilling_count = 0;
GlobalId weak_drilling_example = 0;
for (const auto& [node_id, node] : domain.nodes) {
(void)node;
for (Dof dof : allDofs()) {
const auto key = std::make_pair(node_id, dofIndex(dof));
if (constrained_dofs.count(key) != 0) {
continue;
}
++free_dof_count;
if (!domain.elements.empty() && active_connectivity_nodes.count(node_id) == 0) {
diagnostics.push_back(makeDiagnostic(Severity::Error, "FESA-SINGULAR-DOF-UNTOUCHED",
"Node " + std::to_string(node_id) + " DOF " + dofLabel(dof) +
" is free but is not touched by active element connectivity",
"dof"));
}
if (!domain.elements.empty() && active_connectivity_nodes.count(node_id) != 0 && dof == Dof::RZ) {
if (weak_drilling_count == 0) {
weak_drilling_example = node_id;
}
++weak_drilling_count;
}
}
}
if (!domain.nodes.empty() && free_dof_count == 0) {
diagnostics.push_back(makeDiagnostic(Severity::Error, "FESA-SINGULAR-NO-FREE-DOFS",
"No free DOFs exist after applying boundary constraints", "dof"));
}
if (weak_drilling_count > 0) {
diagnostics.push_back(makeDiagnostic(Severity::Warning, "FESA-SINGULAR-WEAK-DRILLING-DOF",
"Node " + std::to_string(weak_drilling_example) +
" DOF RZ is free; drilling rotation is weakly stabilized in Phase 1 (" +
std::to_string(weak_drilling_count) + " free drilling DOF(s))",
"dof"));
}
return diagnostics;
}
struct DofAddress {
GlobalId node_id = 0;
Dof dof = Dof::UX;
};
class DofManager {
public:
explicit DofManager(const Domain& domain) {
for (const auto& [node_id, node] : domain.nodes) {
(void)node;
node_ids_.push_back(node_id);
for (Dof dof : allDofs()) {
const LocalIndex full_index = static_cast<LocalIndex>(all_dofs_.size());
const auto key = std::make_pair(node_id, dofIndex(dof));
all_dofs_.push_back(key);
full_index_by_key_[key] = full_index;
}
}
for (const BoundaryCondition& boundary : domain.boundary_conditions) {
if (!validAbaqusDofRange(boundary.first_dof, boundary.last_dof)) {
continue;
}
for (GlobalId node_id : resolveNodeTarget(domain, boundary.target)) {
for (int dof = boundary.first_dof; dof <= boundary.last_dof; ++dof) {
constrained_.insert(std::make_pair(node_id, dof - 1));
}
}
}
for (const auto& key : all_dofs_) {
const LocalIndex full_index = full_index_by_key_.at(key);
if (constrained_.count(key) == 0) {
equation_by_key_[key] = static_cast<EquationId>(free_full_indices_.size());
free_full_indices_.push_back(full_index);
} else {
equation_by_key_[key] = -1;
constrained_full_indices_.push_back(full_index);
}
}
}
LocalIndex fullDofCount() const {
return static_cast<LocalIndex>(all_dofs_.size());
}
LocalIndex freeDofCount() const {
return static_cast<LocalIndex>(free_full_indices_.size());
}
LocalIndex constrainedDofCount() const {
return static_cast<LocalIndex>(constrained_full_indices_.size());
}
const std::vector<GlobalId>& nodeIds() const {
return node_ids_;
}
const std::vector<LocalIndex>& freeFullIndices() const {
return free_full_indices_;
}
const std::vector<LocalIndex>& constrainedFullIndices() const {
return constrained_full_indices_;
}
DofAddress fullDof(LocalIndex full_index) const {
const auto& key = all_dofs_.at(static_cast<std::size_t>(full_index));
return {key.first, static_cast<Dof>(key.second)};
}
LocalIndex fullIndex(GlobalId node_id, Dof dof) const {
return full_index_by_key_.at(std::make_pair(node_id, dofIndex(dof)));
}
EquationId equation(GlobalId node_id, Dof dof) const {
return equation_by_key_.at(std::make_pair(node_id, dofIndex(dof)));
}
bool isConstrained(GlobalId node_id, Dof dof) const {
return constrained_.count(std::make_pair(node_id, dofIndex(dof))) != 0;
}
std::vector<Real> reduceFullVector(const std::vector<Real>& full) const {
std::vector<Real> reduced;
reduced.reserve(free_full_indices_.size());
for (LocalIndex full_index : free_full_indices_) {
reduced.push_back(full.at(static_cast<std::size_t>(full_index)));
}
return reduced;
}
std::vector<Real> reconstructFullVector(const std::vector<Real>& reduced) const {
std::vector<Real> full(static_cast<std::size_t>(fullDofCount()), 0.0);
for (std::size_t i = 0; i < free_full_indices_.size(); ++i) {
full[static_cast<std::size_t>(free_full_indices_[i])] = reduced.at(i);
}
return full;
}
std::array<LocalIndex, 24> elementFullDofIndices(const Element& element) const {
std::array<LocalIndex, 24> indices{};
for (LocalIndex node = 0; node < 4; ++node) {
for (Dof dof : allDofs()) {
const LocalIndex local = 6 * node + dofIndex(dof);
indices[static_cast<std::size_t>(local)] = fullIndex(element.node_ids[static_cast<std::size_t>(node)], dof);
}
}
return indices;
}
std::array<EquationId, 24> elementEquationIds(const Element& element) const {
std::array<EquationId, 24> equations{};
for (LocalIndex node = 0; node < 4; ++node) {
for (Dof dof : allDofs()) {
const LocalIndex local = 6 * node + dofIndex(dof);
equations[static_cast<std::size_t>(local)] = equation(element.node_ids[static_cast<std::size_t>(node)], dof);
}
}
return equations;
}
private:
std::vector<GlobalId> node_ids_;
std::vector<std::pair<GlobalId, int>> all_dofs_;
std::set<std::pair<GlobalId, int>> constrained_;
std::map<std::pair<GlobalId, int>, LocalIndex> full_index_by_key_;
std::map<std::pair<GlobalId, int>, EquationId> equation_by_key_;
std::vector<LocalIndex> free_full_indices_;
std::vector<LocalIndex> constrained_full_indices_;
};
class DenseMatrix {
public:
DenseMatrix() = default;
DenseMatrix(LocalIndex rows, LocalIndex cols) : rows_(rows), cols_(cols), values_(static_cast<std::size_t>(rows * cols), 0.0) {}
LocalIndex rows() const {
return rows_;
}
LocalIndex cols() const {
return cols_;
}
Real& operator()(LocalIndex row, LocalIndex col) {
return values_[static_cast<std::size_t>(row * cols_ + col)];
}
Real operator()(LocalIndex row, LocalIndex col) const {
return values_[static_cast<std::size_t>(row * cols_ + col)];
}
void add(LocalIndex row, LocalIndex col, Real value) {
(*this)(row, col) += value;
}
std::vector<Real> multiply(const std::vector<Real>& x) const {
std::vector<Real> y(static_cast<std::size_t>(rows_), 0.0);
for (LocalIndex i = 0; i < rows_; ++i) {
Real sum = 0.0;
for (LocalIndex j = 0; j < cols_; ++j) {
sum += (*this)(i, j) * x[static_cast<std::size_t>(j)];
}
y[static_cast<std::size_t>(i)] = sum;
}
return y;
}
private:
LocalIndex rows_ = 0;
LocalIndex cols_ = 0;
std::vector<Real> values_;
};
inline std::vector<Real> recoverFullReaction(const DenseMatrix& k_full, const std::vector<Real>& u_full, const std::vector<Real>& f_full) {
if (k_full.rows() != k_full.cols() || static_cast<LocalIndex>(u_full.size()) != k_full.cols() ||
static_cast<LocalIndex>(f_full.size()) != k_full.rows()) {
throw std::runtime_error("full reaction size mismatch");
}
std::vector<Real> reaction = k_full.multiply(u_full);
for (std::size_t i = 0; i < reaction.size(); ++i) {
reaction[i] -= f_full[i];
}
return reaction;
}
struct SolveResult {
std::vector<Real> x;
std::vector<Diagnostic> diagnostics;
bool ok() const {
return !hasError(diagnostics);
}
};
class LinearSolver {
public:
virtual ~LinearSolver() = default;
virtual SolveResult solve(DenseMatrix a, std::vector<Real> b) const = 0;
};
class GaussianEliminationSolver final : public LinearSolver {
public:
SolveResult solve(DenseMatrix a, std::vector<Real> b) const override {
const LocalIndex n = a.rows();
SolveResult result;
if (a.rows() != a.cols() || static_cast<LocalIndex>(b.size()) != n) {
result.diagnostics.push_back(makeDiagnostic(Severity::Error, "FESA-SOLVER-SIZE", "Linear system size mismatch", "solver"));
return result;
}
for (LocalIndex col = 0; col < n; ++col) {
LocalIndex pivot = col;
Real pivot_abs = std::fabs(a(col, col));
for (LocalIndex row = col + 1; row < n; ++row) {
const Real candidate = std::fabs(a(row, col));
if (candidate > pivot_abs) {
pivot_abs = candidate;
pivot = row;
}
}
if (pivot_abs < 1.0e-12) {
result.diagnostics.push_back(makeDiagnostic(Severity::Error, "FESA-SINGULAR-SOLVER",
"Reduced system is singular or ill-conditioned", "solver"));
return result;
}
if (pivot != col) {
for (LocalIndex j = col; j < n; ++j) {
std::swap(a(col, j), a(pivot, j));
}
std::swap(b[static_cast<std::size_t>(col)], b[static_cast<std::size_t>(pivot)]);
}
const Real diag = a(col, col);
for (LocalIndex row = col + 1; row < n; ++row) {
const Real factor = a(row, col) / diag;
a(row, col) = 0.0;
for (LocalIndex j = col + 1; j < n; ++j) {
a(row, j) -= factor * a(col, j);
}
b[static_cast<std::size_t>(row)] -= factor * b[static_cast<std::size_t>(col)];
}
}
result.x.assign(static_cast<std::size_t>(n), 0.0);
for (LocalIndex i = n; i-- > 0;) {
Real sum = b[static_cast<std::size_t>(i)];
for (LocalIndex j = i + 1; j < n; ++j) {
sum -= a(i, j) * result.x[static_cast<std::size_t>(j)];
}
result.x[static_cast<std::size_t>(i)] = sum / a(i, i);
}
return result;
}
};
struct ShapeData {
std::array<Real, 4> n{};
std::array<Real, 4> dr{};
std::array<Real, 4> ds{};
};
inline ShapeData shapeFunctions(Real r, Real s) {
return {{
0.25 * (1.0 - r) * (1.0 - s),
0.25 * (1.0 + r) * (1.0 - s),
0.25 * (1.0 + r) * (1.0 + s),
0.25 * (1.0 - r) * (1.0 + s),
},
{
-0.25 * (1.0 - s),
0.25 * (1.0 - s),
0.25 * (1.0 + s),
-0.25 * (1.0 + s),
},
{
-0.25 * (1.0 - r),
-0.25 * (1.0 + r),
0.25 * (1.0 + r),
0.25 * (1.0 - r),
}};
}
struct LocalBasis {
Vec3 e1;
Vec3 e2;
Vec3 e3;
};
struct MITC4NaturalPoint {
Real xi = 0.0;
Real eta = 0.0;
};
struct MITC4TyingPoint {
std::string label;
MITC4NaturalPoint natural;
std::array<LocalIndex, 2> edge_node_indices{};
};
inline std::array<MITC4NaturalPoint, 4> mitc4NodeNaturalCoordinates() {
return {{{-1.0, -1.0}, {1.0, -1.0}, {1.0, 1.0}, {-1.0, 1.0}}};
}
inline std::array<MITC4TyingPoint, 4> mitc4TyingPoints() {
return {{{"A", {0.0, -1.0}, {0, 1}},
{"B", {-1.0, 0.0}, {0, 3}},
{"C", {0.0, 1.0}, {3, 2}},
{"D", {1.0, 0.0}, {1, 2}}}};
}
struct MITC4DirectorFrame {
Vec3 v1;
Vec3 v2;
Vec3 vn;
};
struct MITC4MidsurfaceDerivatives {
ShapeData shape;
Vec3 g1;
Vec3 g2;
};
struct MITC4Geometry {
std::array<Vec3, 4> coordinates{};
Real thickness = 0.0;
ShapeData center_shape;
Vec3 g1_center;
Vec3 g2_center;
Vec3 center_normal;
std::array<MITC4DirectorFrame, 4> nodal_frames{};
std::vector<Diagnostic> diagnostics;
bool ok() const {
return !hasError(diagnostics);
}
};
struct MITC4IntegrationBasis {
ShapeData shape;
Vec3 g1;
Vec3 g2;
Vec3 g3;
Real jacobian = 0.0;
LocalBasis local;
std::vector<Diagnostic> diagnostics;
bool ok() const {
return !hasError(diagnostics);
}
};
using MITC4ElementDofVector = std::array<Real, 24>;
using MITC4StrainVector = std::array<Real, 6>;
using MITC4StrainRow = std::array<Real, 24>;
enum class MITC4StrainComponent {
Eps11 = 0,
Eps22 = 1,
Eps33 = 2,
Gamma23 = 3,
Gamma13 = 4,
Gamma12 = 5
};
inline std::size_t strainComponentIndex(MITC4StrainComponent component) {
return static_cast<std::size_t>(component);
}
inline std::array<std::string, 6> mitc4StrainComponentLabels() {
return {"eps11", "eps22", "eps33", "gamma23", "gamma13", "gamma12"};
}
struct MITC4LocalRotations {
Real alpha = 0.0;
Real beta = 0.0;
Real gamma = 0.0;
};
struct MITC4DisplacementDerivatives {
ShapeData shape;
Vec3 displacement;
Vec3 du_dxi;
Vec3 du_deta;
Vec3 du_dzeta;
std::vector<Diagnostic> diagnostics;
bool ok() const {
return !hasError(diagnostics);
}
};
struct MITC4StrainEvaluation {
MITC4StrainVector values{};
std::vector<Diagnostic> diagnostics;
bool ok() const {
return !hasError(diagnostics);
}
};
struct MITC4StrainRows {
std::array<MITC4StrainRow, 6> rows{};
std::vector<Diagnostic> diagnostics;
bool ok() const {
return !hasError(diagnostics);
}
};
inline Vec3 globalEX() {
return {1.0, 0.0, 0.0};
}
inline Vec3 globalEY() {
return {0.0, 1.0, 0.0};
}
inline Vec3 globalEZ() {
return {0.0, 0.0, 1.0};
}
inline Diagnostic mitc4Diagnostic(std::string code, std::string message) {
return makeDiagnostic(Severity::Error, std::move(code), std::move(message), "mitc4", "<element>", 0);
}
inline void appendDiagnostics(std::vector<Diagnostic>& target, const std::vector<Diagnostic>& source) {
target.insert(target.end(), source.begin(), source.end());
}
inline MITC4MidsurfaceDerivatives mitc4MidsurfaceDerivatives(const std::array<Vec3, 4>& coordinates, Real xi, Real eta) {
MITC4MidsurfaceDerivatives result;
result.shape = shapeFunctions(xi, eta);
for (std::size_t i = 0; i < 4; ++i) {
result.g1 = result.g1 + result.shape.dr[i] * coordinates[i];
result.g2 = result.g2 + result.shape.ds[i] * coordinates[i];
}
return result;
}
inline std::optional<Vec3> firstNormalizedCross(const std::array<Vec3, 3>& axes, const Vec3& vector, Real tolerance) {
for (const Vec3& axis : axes) {
auto candidate = normalizedIfValid(cross(axis, vector), tolerance);
if (candidate) {
return candidate;
}
}
return std::nullopt;
}
inline std::optional<MITC4DirectorFrame> buildMITC4DirectorFrame(const Vec3& normal, Real tolerance) {
auto v1 = normalizedIfValid(cross(globalEY(), normal), tolerance);
if (!v1) {
v1 = firstNormalizedCross({globalEZ(), globalEX(), globalEY()}, normal, tolerance);
}
if (!v1) {
return std::nullopt;
}
auto v2 = normalizedIfValid(cross(normal, *v1), tolerance);
if (!v2) {
return std::nullopt;
}
return MITC4DirectorFrame{*v1, *v2, normal};
}
inline MITC4Geometry buildMITC4Geometry(const std::array<Vec3, 4>& coordinates, Real thickness, Real tolerance = 1.0e-12) {
MITC4Geometry geometry;
geometry.coordinates = coordinates;
geometry.thickness = thickness;
if (!isFinite(thickness) || thickness <= tolerance) {
geometry.diagnostics.push_back(
mitc4Diagnostic("FESA-MITC4-THICKNESS", "MITC4 shell thickness must be positive and finite"));
}
for (const Vec3& coordinate : coordinates) {
if (!isFinite(coordinate)) {
geometry.diagnostics.push_back(
mitc4Diagnostic("FESA-MITC4-COORDINATE", "MITC4 element coordinates must be finite"));
break;
}
}
const auto center = mitc4MidsurfaceDerivatives(coordinates, 0.0, 0.0);
geometry.center_shape = center.shape;
geometry.g1_center = center.g1;
geometry.g2_center = center.g2;
const auto normal = normalizedIfValid(cross(center.g1, center.g2), tolerance);
if (!normal) {
geometry.diagnostics.push_back(
mitc4Diagnostic("FESA-MITC4-SINGULAR-NORMAL", "MITC4 element center normal is near zero"));
return geometry;
}
geometry.center_normal = *normal;
const auto frame = buildMITC4DirectorFrame(*normal, tolerance);
if (!frame) {
geometry.diagnostics.push_back(
mitc4Diagnostic("FESA-MITC4-SINGULAR-BASIS", "MITC4 nodal director basis could not be constructed"));
return geometry;
}
geometry.nodal_frames.fill(*frame);
return geometry;
}
inline MITC4IntegrationBasis computeMITC4IntegrationBasis(const MITC4Geometry& geometry, Real xi, Real eta, Real zeta,
Real tolerance = 1.0e-12) {
MITC4IntegrationBasis result;
result.diagnostics = geometry.diagnostics;
result.shape = shapeFunctions(xi, eta);
for (std::size_t i = 0; i < 4; ++i) {
const Vec3& coordinate = geometry.coordinates[i];
const Vec3& normal = geometry.nodal_frames[i].vn;
result.g1 = result.g1 + result.shape.dr[i] * coordinate +
(0.5 * zeta * geometry.thickness * result.shape.dr[i]) * normal;
result.g2 = result.g2 + result.shape.ds[i] * coordinate +
(0.5 * zeta * geometry.thickness * result.shape.ds[i]) * normal;
result.g3 = result.g3 + (0.5 * geometry.thickness * result.shape.n[i]) * normal;
}
result.jacobian = dot(cross(result.g1, result.g2), result.g3);
if (!isFinite(result.jacobian) || std::fabs(result.jacobian) <= tolerance) {
result.diagnostics.push_back(
mitc4Diagnostic("FESA-MITC4-SINGULAR-JACOBIAN", "MITC4 element Jacobian is near zero"));
}
const auto e3 = normalizedIfValid(result.g3, tolerance);
if (!e3) {
result.diagnostics.push_back(
mitc4Diagnostic("FESA-MITC4-SINGULAR-BASIS", "MITC4 integration basis normal is near zero"));
return result;
}
auto e1 = normalizedIfValid(cross(result.g2, *e3), tolerance);
if (!e1) {
e1 = firstNormalizedCross({globalEY(), globalEZ(), globalEX()}, *e3, tolerance);
}
if (!e1) {
result.diagnostics.push_back(
mitc4Diagnostic("FESA-MITC4-SINGULAR-BASIS", "MITC4 integration basis tangent could not be constructed"));
return result;
}
const auto e2 = normalizedIfValid(cross(*e3, *e1), tolerance);
if (!e2) {
result.diagnostics.push_back(
mitc4Diagnostic("FESA-MITC4-SINGULAR-BASIS", "MITC4 integration basis is not right-handed"));
return result;
}
result.local = {*e1, *e2, *e3};
return result;
}
inline Vec3 mitc4NodalTranslation(const MITC4ElementDofVector& values, std::size_t node) {
const std::size_t base = 6 * node;
return {values[base + 0], values[base + 1], values[base + 2]};
}
inline Vec3 mitc4NodalRotation(const MITC4ElementDofVector& values, std::size_t node) {
const std::size_t base = 6 * node;
return {values[base + 3], values[base + 4], values[base + 5]};
}
inline MITC4LocalRotations mitc4LocalRotations(const MITC4DirectorFrame& frame, const Vec3& global_rotation) {
return {dot(global_rotation, frame.v1), dot(global_rotation, frame.v2), dot(global_rotation, frame.vn)};
}
inline Vec3 mitc4DirectorIncrement(const MITC4DirectorFrame& frame, const Vec3& global_rotation) {
const MITC4LocalRotations rotations = mitc4LocalRotations(frame, global_rotation);
return (-rotations.alpha) * frame.v2 + rotations.beta * frame.v1;
}
inline MITC4DisplacementDerivatives mitc4DisplacementDerivatives(const MITC4Geometry& geometry, const MITC4ElementDofVector& values,
Real xi, Real eta, Real zeta) {
MITC4DisplacementDerivatives result;
result.diagnostics = geometry.diagnostics;
result.shape = shapeFunctions(xi, eta);
for (std::size_t node = 0; node < 4; ++node) {
const Vec3 translation = mitc4NodalTranslation(values, node);
const Vec3 rotation = mitc4NodalRotation(values, node);
const Vec3 q = mitc4DirectorIncrement(geometry.nodal_frames[node], rotation);
const Real n = result.shape.n[node];
const Real dn_dxi = result.shape.dr[node];
const Real dn_deta = result.shape.ds[node];
result.displacement = result.displacement + n * translation + (0.5 * zeta * geometry.thickness * n) * q;
result.du_dxi = result.du_dxi + dn_dxi * translation + (0.5 * zeta * geometry.thickness * dn_dxi) * q;
result.du_deta = result.du_deta + dn_deta * translation + (0.5 * zeta * geometry.thickness * dn_deta) * q;
result.du_dzeta = result.du_dzeta + (0.5 * geometry.thickness * n) * q;
}
return result;
}
inline void assignMITC4CovariantStrain(MITC4StrainVector& values, const MITC4IntegrationBasis& basis,
const MITC4DisplacementDerivatives& derivatives) {
values[strainComponentIndex(MITC4StrainComponent::Eps11)] = dot(derivatives.du_dxi, basis.g1);
values[strainComponentIndex(MITC4StrainComponent::Eps22)] = dot(derivatives.du_deta, basis.g2);
values[strainComponentIndex(MITC4StrainComponent::Eps33)] = 0.0;
values[strainComponentIndex(MITC4StrainComponent::Gamma23)] = dot(derivatives.du_deta, basis.g3) + dot(derivatives.du_dzeta, basis.g2);
values[strainComponentIndex(MITC4StrainComponent::Gamma13)] = dot(derivatives.du_dxi, basis.g3) + dot(derivatives.du_dzeta, basis.g1);
values[strainComponentIndex(MITC4StrainComponent::Gamma12)] = dot(derivatives.du_dxi, basis.g2) + dot(derivatives.du_deta, basis.g1);
}
inline MITC4StrainEvaluation mitc4DirectCovariantStrain(const MITC4Geometry& geometry, const MITC4ElementDofVector& values,
Real xi, Real eta, Real zeta) {
MITC4StrainEvaluation result;
const auto basis = computeMITC4IntegrationBasis(geometry, xi, eta, zeta);
appendDiagnostics(result.diagnostics, basis.diagnostics);
const auto derivatives = mitc4DisplacementDerivatives(geometry, values, xi, eta, zeta);
appendDiagnostics(result.diagnostics, derivatives.diagnostics);
if (hasError(result.diagnostics)) {
return result;
}
assignMITC4CovariantStrain(result.values, basis, derivatives);
return result;
}
inline MITC4StrainRows mitc4DirectCovariantStrainRows(const MITC4Geometry& geometry, Real xi, Real eta, Real zeta) {
MITC4StrainRows result;
const auto basis = computeMITC4IntegrationBasis(geometry, xi, eta, zeta);
appendDiagnostics(result.diagnostics, basis.diagnostics);
if (hasError(result.diagnostics)) {
return result;
}
for (std::size_t dof = 0; dof < 24; ++dof) {
MITC4ElementDofVector unit{};
unit.fill(0.0);
unit[dof] = 1.0;
const auto derivatives = mitc4DisplacementDerivatives(geometry, unit, xi, eta, zeta);
appendDiagnostics(result.diagnostics, derivatives.diagnostics);
if (hasError(result.diagnostics)) {
return result;
}
MITC4StrainVector values{};
assignMITC4CovariantStrain(values, basis, derivatives);
for (std::size_t component = 0; component < 6; ++component) {
result.rows[component][dof] = values[component];
}
}
return result;
}
inline MITC4StrainEvaluation evaluateMITC4StrainRows(const MITC4StrainRows& rows, const MITC4ElementDofVector& values) {
MITC4StrainEvaluation result;
result.diagnostics = rows.diagnostics;
if (hasError(result.diagnostics)) {
return result;
}
for (std::size_t component = 0; component < 6; ++component) {
for (std::size_t dof = 0; dof < 24; ++dof) {
result.values[component] += rows.rows[component][dof] * values[dof];
}
}
return result;
}
inline MITC4StrainRows mitc4TiedCovariantStrainRows(const MITC4Geometry& geometry, Real xi, Real eta, Real zeta) {
MITC4StrainRows result = mitc4DirectCovariantStrainRows(geometry, xi, eta, zeta);
const auto direct_a = mitc4DirectCovariantStrainRows(geometry, 0.0, -1.0, zeta);
const auto direct_b = mitc4DirectCovariantStrainRows(geometry, -1.0, 0.0, zeta);
const auto direct_c = mitc4DirectCovariantStrainRows(geometry, 0.0, 1.0, zeta);
const auto direct_d = mitc4DirectCovariantStrainRows(geometry, 1.0, 0.0, zeta);
appendDiagnostics(result.diagnostics, direct_a.diagnostics);
appendDiagnostics(result.diagnostics, direct_b.diagnostics);
appendDiagnostics(result.diagnostics, direct_c.diagnostics);
appendDiagnostics(result.diagnostics, direct_d.diagnostics);
if (hasError(result.diagnostics)) {
return result;
}
const std::size_t gamma23 = strainComponentIndex(MITC4StrainComponent::Gamma23);
const std::size_t gamma13 = strainComponentIndex(MITC4StrainComponent::Gamma13);
for (std::size_t dof = 0; dof < 24; ++dof) {
result.rows[gamma13][dof] = 0.5 * (1.0 - eta) * direct_a.rows[gamma13][dof] +
0.5 * (1.0 + eta) * direct_c.rows[gamma13][dof];
result.rows[gamma23][dof] = 0.5 * (1.0 - xi) * direct_b.rows[gamma23][dof] +
0.5 * (1.0 + xi) * direct_d.rows[gamma23][dof];
}
return result;
}
inline LocalBasis computeLocalBasis(const std::array<Vec3, 4>& coordinates) {
const MITC4Geometry geometry = buildMITC4Geometry(coordinates, 1.0);
if (!geometry.ok()) {
throw std::runtime_error("invalid MITC4 geometry");
}
const MITC4DirectorFrame& frame = geometry.nodal_frames[0];
return {frame.v1, frame.v2, frame.vn};
}
struct NaturalDerivatives {
ShapeData shape;
std::array<Real, 4> dx{};
std::array<Real, 4> dy{};
Real det_j = 0.0;
};
inline NaturalDerivatives naturalDerivatives(const std::array<std::array<Real, 2>, 4>& xy, Real r, Real s) {
NaturalDerivatives data;
data.shape = shapeFunctions(r, s);
Real j00 = 0.0;
Real j01 = 0.0;
Real j10 = 0.0;
Real j11 = 0.0;
for (std::size_t i = 0; i < 4; ++i) {
j00 += data.shape.dr[i] * xy[i][0];
j01 += data.shape.ds[i] * xy[i][0];
j10 += data.shape.dr[i] * xy[i][1];
j11 += data.shape.ds[i] * xy[i][1];
}
data.det_j = j00 * j11 - j01 * j10;
if (std::fabs(data.det_j) < 1.0e-14) {
throw std::runtime_error("invalid shell element jacobian");
}
const Real inv00 = j11 / data.det_j;
const Real inv01 = -j01 / data.det_j;
const Real inv10 = -j10 / data.det_j;
const Real inv11 = j00 / data.det_j;
for (std::size_t i = 0; i < 4; ++i) {
data.dx[i] = inv00 * data.shape.dr[i] + inv01 * data.shape.ds[i];
data.dy[i] = inv10 * data.shape.dr[i] + inv11 * data.shape.ds[i];
}
return data;
}
struct ElementStiffnessOptions {
Real drilling_stiffness_scale = 1.0e-6;
};
class MITC4ElementKernel {
public:
DenseMatrix stiffness(const std::array<Vec3, 4>& coordinates, Real elastic_modulus, Real poisson_ratio, Real thickness,
ElementStiffnessOptions options = {}) const {
const LocalBasis basis = computeLocalBasis(coordinates);
std::array<std::array<Real, 2>, 4> xy{};
for (std::size_t i = 0; i < 4; ++i) {
const Vec3 relative = coordinates[i] - coordinates[0];
xy[i] = {dot(relative, basis.e1), dot(relative, basis.e2)};
}
DenseMatrix local(24, 24);
const Real membrane_factor = elastic_modulus * thickness / (1.0 - poisson_ratio * poisson_ratio);
const Real bending_factor = elastic_modulus * thickness * thickness * thickness / (12.0 * (1.0 - poisson_ratio * poisson_ratio));
const Real shear_factor = (5.0 / 6.0) * elastic_modulus * thickness / (2.0 * (1.0 + poisson_ratio));
const Real gauss = 1.0 / std::sqrt(3.0);
const std::array<Real, 2> points = {-gauss, gauss};
for (Real r : points) {
for (Real s : points) {
const NaturalDerivatives d = naturalDerivatives(xy, r, s);
DenseMatrix b(8, 24);
addMembraneB(b, d);
addBendingB(b, d);
addMitcShearB(b, xy, r, s);
accumulateBtDB(local, b, membrane_factor, bending_factor, shear_factor, poisson_ratio, std::fabs(d.det_j));
addDrilling(local, d, elastic_modulus * thickness * options.drilling_stiffness_scale, std::fabs(d.det_j));
}
}
return transformToGlobal(local, basis);
}
private:
static void addMembraneB(DenseMatrix& b, const NaturalDerivatives& d) {
for (LocalIndex i = 0; i < 4; ++i) {
const LocalIndex c = 6 * i;
b(0, c + 0) = d.dx[static_cast<std::size_t>(i)];
b(1, c + 1) = d.dy[static_cast<std::size_t>(i)];
b(2, c + 0) = d.dy[static_cast<std::size_t>(i)];
b(2, c + 1) = d.dx[static_cast<std::size_t>(i)];
}
}
static void addBendingB(DenseMatrix& b, const NaturalDerivatives& d) {
for (LocalIndex i = 0; i < 4; ++i) {
const LocalIndex c = 6 * i;
b(3, c + 4) = -d.dx[static_cast<std::size_t>(i)];
b(4, c + 3) = d.dy[static_cast<std::size_t>(i)];
b(5, c + 3) = d.dx[static_cast<std::size_t>(i)];
b(5, c + 4) = -d.dy[static_cast<std::size_t>(i)];
}
}
static void addStandardShearRow(DenseMatrix& b, LocalIndex row, const NaturalDerivatives& d, bool gamma_xz, Real scale) {
for (LocalIndex i = 0; i < 4; ++i) {
const LocalIndex c = 6 * i;
if (gamma_xz) {
b(row, c + 2) += scale * d.dx[static_cast<std::size_t>(i)];
b(row, c + 4) += scale * d.shape.n[static_cast<std::size_t>(i)];
} else {
b(row, c + 2) += scale * d.dy[static_cast<std::size_t>(i)];
b(row, c + 3) -= scale * d.shape.n[static_cast<std::size_t>(i)];
}
}
}
static void addMitcShearB(DenseMatrix& b, const std::array<std::array<Real, 2>, 4>& xy, Real r, Real s) {
addStandardShearRow(b, 6, naturalDerivatives(xy, 0.0, -1.0), true, 0.5 * (1.0 - s));
addStandardShearRow(b, 6, naturalDerivatives(xy, 0.0, 1.0), true, 0.5 * (1.0 + s));
addStandardShearRow(b, 7, naturalDerivatives(xy, -1.0, 0.0), false, 0.5 * (1.0 - r));
addStandardShearRow(b, 7, naturalDerivatives(xy, 1.0, 0.0), false, 0.5 * (1.0 + r));
}
static void accumulateBtDB(DenseMatrix& k, const DenseMatrix& b, Real membrane_factor, Real bending_factor, Real shear_factor, Real poisson_ratio, Real det_j) {
std::array<std::array<Real, 8>, 8> d{};
d[0][0] = membrane_factor;
d[0][1] = poisson_ratio * membrane_factor;
d[1][0] = poisson_ratio * membrane_factor;
d[1][1] = membrane_factor;
d[2][2] = membrane_factor * (1.0 - poisson_ratio) / 2.0;
d[3][3] = bending_factor;
d[3][4] = poisson_ratio * bending_factor;
d[4][3] = poisson_ratio * bending_factor;
d[4][4] = bending_factor;
d[5][5] = bending_factor * (1.0 - poisson_ratio) / 2.0;
d[6][6] = shear_factor;
d[7][7] = shear_factor;
for (LocalIndex i = 0; i < 24; ++i) {
for (LocalIndex j = 0; j < 24; ++j) {
Real value = 0.0;
for (LocalIndex row = 0; row < 8; ++row) {
for (LocalIndex col = 0; col < 8; ++col) {
value += b(row, i) * d[static_cast<std::size_t>(row)][static_cast<std::size_t>(col)] * b(col, j);
}
}
k.add(i, j, value * det_j);
}
}
}
static void addDrilling(DenseMatrix& k, const NaturalDerivatives& d, Real drill_factor, Real det_j) {
std::array<Real, 24> b{};
for (LocalIndex i = 0; i < 4; ++i) {
const LocalIndex c = 6 * i;
b[static_cast<std::size_t>(c + 0)] = -0.5 * d.dy[static_cast<std::size_t>(i)];
b[static_cast<std::size_t>(c + 1)] = 0.5 * d.dx[static_cast<std::size_t>(i)];
b[static_cast<std::size_t>(c + 5)] = -d.shape.n[static_cast<std::size_t>(i)];
}
for (LocalIndex i = 0; i < 24; ++i) {
for (LocalIndex j = 0; j < 24; ++j) {
k.add(i, j, b[static_cast<std::size_t>(i)] * drill_factor * b[static_cast<std::size_t>(j)] * det_j);
}
}
}
static DenseMatrix transformToGlobal(const DenseMatrix& local, const LocalBasis& basis) {
DenseMatrix transform(24, 24);
const std::array<Vec3, 3> axes = {basis.e1, basis.e2, basis.e3};
for (LocalIndex node = 0; node < 4; ++node) {
for (LocalIndex local_axis = 0; local_axis < 3; ++local_axis) {
const Vec3 axis = axes[static_cast<std::size_t>(local_axis)];
const LocalIndex base = 6 * node;
transform(base + local_axis, base + 0) = axis.x;
transform(base + local_axis, base + 1) = axis.y;
transform(base + local_axis, base + 2) = axis.z;
transform(base + 3 + local_axis, base + 3) = axis.x;
transform(base + 3 + local_axis, base + 4) = axis.y;
transform(base + 3 + local_axis, base + 5) = axis.z;
}
}
DenseMatrix global(24, 24);
for (LocalIndex i = 0; i < 24; ++i) {
for (LocalIndex j = 0; j < 24; ++j) {
Real value = 0.0;
for (LocalIndex a = 0; a < 24; ++a) {
for (LocalIndex b = 0; b < 24; ++b) {
value += transform(a, i) * local(a, b) * transform(b, j);
}
}
global(i, j) = value;
}
}
return global;
}
};
struct AssemblyResult {
DenseMatrix k_full;
std::vector<Real> f_full;
std::vector<Diagnostic> diagnostics;
};
inline AssemblyResult assembleSystem(const Domain& domain, const DofManager& dofs, ElementStiffnessOptions options = {}) {
AssemblyResult result{DenseMatrix(dofs.fullDofCount(), dofs.fullDofCount()), std::vector<Real>(static_cast<std::size_t>(dofs.fullDofCount()), 0.0), {}};
MITC4ElementKernel kernel;
for (const auto& [element_id, element] : domain.elements) {
const ShellSection* section = shellSectionForElement(domain, element_id);
if (section == nullptr) {
result.diagnostics.push_back({Severity::Error, "FESA-ASSEMBLY-MISSING-PROPERTY", "Element has no shell section", {}});
continue;
}
const auto material_it = domain.materials.find(Domain::key(section->material));
if (material_it == domain.materials.end()) {
result.diagnostics.push_back({Severity::Error, "FESA-ASSEMBLY-MISSING-MATERIAL", "Element material is missing", {}});
continue;
}
std::array<Vec3, 4> coordinates{};
for (std::size_t i = 0; i < 4; ++i) {
coordinates[i] = domain.nodes.at(element.node_ids[i]).coordinates;
}
DenseMatrix ke = kernel.stiffness(coordinates, material_it->second.elastic_modulus, material_it->second.poisson_ratio, section->thickness, options);
const auto element_full_indices = dofs.elementFullDofIndices(element);
for (LocalIndex a = 0; a < 24; ++a) {
const LocalIndex ia = element_full_indices[static_cast<std::size_t>(a)];
for (LocalIndex b = 0; b < 24; ++b) {
const LocalIndex ib = element_full_indices[static_cast<std::size_t>(b)];
result.k_full.add(ia, ib, ke(a, b));
}
}
}
for (const NodalLoad& load : domain.loads) {
for (GlobalId node_id : resolveNodeTarget(domain, load.target, &result.diagnostics)) {
result.f_full[static_cast<std::size_t>(dofs.fullIndex(node_id, *dofFromAbaqus(load.dof)))] += load.magnitude;
}
}
return result;
}
struct FieldOutput {
std::string name;
std::string position = "NODAL";
std::string entity_type = "node";
std::string basis = "GLOBAL";
std::string description;
std::vector<GlobalId> entity_ids;
std::vector<std::string> component_labels;
std::vector<std::array<Real, 6>> values;
};
struct ResultFrame {
LocalIndex frame_id = 0;
LocalIndex increment = 1;
LocalIndex iteration = 0;
Real step_time = 1.0;
Real total_time = 1.0;
bool converged = true;
std::string description = "Phase 1 linear static frame";
std::map<std::string, FieldOutput> field_outputs;
};
struct ResultStep {
std::string name;
std::vector<ResultFrame> frames;
};
struct ResultFile {
std::string schema_name = "FESA_RESULTS";
LocalIndex schema_version = 1;
std::string solver_name = "FESA";
std::string dof_convention = "UX,UY,UZ,RX,RY,RZ";
std::string sign_convention = "Abaqus-compatible";
std::string precision = "double";
std::string index_type = "int64";
std::vector<GlobalId> node_ids;
std::vector<Vec3> coordinates;
std::vector<GlobalId> element_ids;
std::vector<std::array<GlobalId, 4>> connectivity;
std::vector<ResultStep> steps;
};
class InMemoryResultsWriter {
public:
void writeLinearStatic(const Domain& domain, const DofManager& dofs, const std::vector<Real>& u_full, const std::vector<Real>& rf_full) {
result_ = ResultFile{};
for (const auto& [node_id, node] : domain.nodes) {
result_.node_ids.push_back(node_id);
result_.coordinates.push_back(node.coordinates);
}
for (const auto& [element_id, element] : domain.elements) {
result_.element_ids.push_back(element_id);
result_.connectivity.push_back(element.node_ids);
}
ResultStep step;
step.name = domain.steps.empty() ? "Step-1" : domain.steps.front().name;
ResultFrame frame;
frame.frame_id = 0;
frame.field_outputs["U"] = buildNodalField("U", displacementComponentLabels(), "Nodal displacement and rotation", domain, dofs, u_full);
frame.field_outputs["RF"] = buildNodalField("RF", reactionComponentLabels(), "Nodal reaction force and moment", domain, dofs, rf_full);
step.frames.push_back(frame);
result_.steps.push_back(step);
}
const ResultFile& result() const {
return result_;
}
private:
static FieldOutput buildNodalField(const std::string& name, const std::vector<std::string>& labels, const std::string& description,
const Domain& domain, const DofManager& dofs, const std::vector<Real>& full_values) {
FieldOutput field;
field.name = name;
field.position = "NODAL";
field.entity_type = "node";
field.basis = "GLOBAL";
field.description = description;
field.component_labels = labels;
for (const auto& [node_id, node] : domain.nodes) {
(void)node;
field.entity_ids.push_back(node_id);
std::array<Real, 6> values{};
for (Dof dof : allDofs()) {
values[static_cast<std::size_t>(dofIndex(dof))] = full_values[static_cast<std::size_t>(dofs.fullIndex(node_id, dof))];
}
field.values.push_back(values);
}
return field;
}
ResultFile result_;
};
struct AnalysisState {
std::vector<Real> u_full;
std::vector<Real> f_external_full;
std::vector<Real> reaction_full;
bool converged = false;
};
struct AnalysisResult {
AnalysisState state;
ResultFile result_file;
std::vector<Diagnostic> diagnostics;
bool ok() const {
return !hasError(diagnostics);
}
};
class Analysis {
public:
virtual ~Analysis() = default;
AnalysisResult run(const Domain& domain) const {
AnalysisResult result;
initialize(domain, result);
if (hasError(result.diagnostics)) {
return result;
}
solve(domain, result);
return result;
}
protected:
virtual void initialize(const Domain& domain, AnalysisResult& result) const {
auto diagnostics = validateDomain(domain);
result.diagnostics.insert(result.diagnostics.end(), diagnostics.begin(), diagnostics.end());
}
virtual void solve(const Domain& domain, AnalysisResult& result) const = 0;
};
class LinearStaticAnalysis final : public Analysis {
protected:
void solve(const Domain& domain, AnalysisResult& result) const override {
DofManager dofs(domain);
if (dofs.freeDofCount() == 0) {
result.diagnostics.push_back(makeDiagnostic(Severity::Error, "FESA-SINGULAR-NO-FREE-DOFS",
"No free DOFs exist after applying constraints", "dof"));
return;
}
AssemblyResult assembly = assembleSystem(domain, dofs);
result.diagnostics.insert(result.diagnostics.end(), assembly.diagnostics.begin(), assembly.diagnostics.end());
if (hasError(result.diagnostics)) {
return;
}
DenseMatrix k_reduced(dofs.freeDofCount(), dofs.freeDofCount());
std::vector<Real> f_reduced(static_cast<std::size_t>(dofs.freeDofCount()), 0.0);
for (LocalIndex i = 0; i < dofs.freeDofCount(); ++i) {
const LocalIndex full_i = dofs.freeFullIndices()[static_cast<std::size_t>(i)];
f_reduced[static_cast<std::size_t>(i)] = assembly.f_full[static_cast<std::size_t>(full_i)];
for (LocalIndex j = 0; j < dofs.freeDofCount(); ++j) {
const LocalIndex full_j = dofs.freeFullIndices()[static_cast<std::size_t>(j)];
k_reduced(i, j) = assembly.k_full(full_i, full_j);
}
}
GaussianEliminationSolver solver;
SolveResult solved = solver.solve(k_reduced, f_reduced);
result.diagnostics.insert(result.diagnostics.end(), solved.diagnostics.begin(), solved.diagnostics.end());
if (!solved.ok()) {
return;
}
result.state.u_full = dofs.reconstructFullVector(solved.x);
result.state.f_external_full = assembly.f_full;
result.state.reaction_full = recoverFullReaction(assembly.k_full, result.state.u_full, result.state.f_external_full);
result.state.converged = true;
InMemoryResultsWriter writer;
writer.writeLinearStatic(domain, dofs, result.state.u_full, result.state.reaction_full);
result.result_file = writer.result();
}
};
struct CsvDisplacementRow {
GlobalId node_id = 0;
std::array<Real, 6> values{};
};
struct CsvDisplacementTable {
std::map<GlobalId, CsvDisplacementRow> rows;
std::vector<Diagnostic> diagnostics;
};
inline std::vector<std::string> displacementCsvRequiredColumns() {
return {"Node Label", "U-U1", "U-U2", "U-U3", "UR-UR1", "UR-UR2", "UR-UR3"};
}
inline CsvDisplacementTable loadDisplacementCsvFromStream(std::istream& input, const std::string& source_name) {
CsvDisplacementTable table;
std::string line;
if (!std::getline(input, line)) {
table.diagnostics.push_back({Severity::Error, "FESA-CSV-EMPTY", "Displacement CSV is empty", {source_name, 1, ""}});
return table;
}
const std::vector<std::string> required = displacementCsvRequiredColumns();
std::vector<std::string> headers = splitCsv(line);
std::map<std::string, std::size_t> column;
for (std::size_t i = 0; i < headers.size(); ++i) {
column[trim(headers[i])] = i;
}
for (const std::string& name : required) {
if (column.count(name) == 0) {
table.diagnostics.push_back({Severity::Error, "FESA-CSV-MISSING-COLUMN", "Missing CSV column: " + name, {source_name, 1, ""}});
}
}
if (hasError(table.diagnostics)) {
return table;
}
LocalIndex line_number = 1;
while (std::getline(input, line)) {
++line_number;
if (trim(line).empty()) {
continue;
}
std::vector<std::string> fields = splitCsv(line);
auto get = [&](const std::string& name) -> std::string {
const std::size_t index = column[name];
return index < fields.size() ? fields[index] : "";
};
auto node_id = parseInt64(get("Node Label"));
if (!node_id) {
table.diagnostics.push_back({Severity::Error, "FESA-CSV-NODE", "Invalid node label", {source_name, line_number, ""}});
continue;
}
if (table.rows.count(*node_id) != 0) {
table.diagnostics.push_back({Severity::Error, "FESA-CSV-DUPLICATE-NODE", "Duplicate node label", {source_name, line_number, ""}});
continue;
}
CsvDisplacementRow row;
row.node_id = *node_id;
for (std::size_t i = 0; i < 6; ++i) {
auto value = parseReal(get(required[i + 1]));
if (!value) {
table.diagnostics.push_back({Severity::Error, "FESA-CSV-NUMERIC", "Invalid displacement value", {source_name, line_number, ""}});
value = 0.0;
}
row.values[i] = *value;
}
table.rows[*node_id] = row;
}
return table;
}
inline CsvDisplacementTable loadDisplacementCsvFromString(const std::string& text, const std::string& source_name = "<memory>") {
std::istringstream input(text);
return loadDisplacementCsvFromStream(input, source_name);
}
inline CsvDisplacementTable loadDisplacementCsv(const std::string& path) {
std::ifstream input(path);
if (!input.good()) {
CsvDisplacementTable table;
table.diagnostics.push_back({Severity::Error, "FESA-CSV-READ", "Could not read displacement CSV", {path, 0, ""}});
return table;
}
return loadDisplacementCsvFromStream(input, path);
}
struct ComparisonOptions {
Real abs_tol = 1.0e-12;
Real rel_tol = 1.0e-5;
Real reference_scale = 1.0;
};
struct ComparisonResult {
bool pass = false;
Real max_abs_error = 0.0;
Real max_rel_error = 0.0;
std::vector<Diagnostic> diagnostics;
};
inline ComparisonResult compareDisplacements(const FieldOutput& actual, const CsvDisplacementTable& expected, ComparisonOptions options = {}) {
ComparisonResult result;
result.diagnostics = expected.diagnostics;
if (hasError(result.diagnostics)) {
return result;
}
if (actual.name != "U") {
result.diagnostics.push_back({Severity::Error, "FESA-COMPARE-FIELD-NAME", "Expected FESA displacement field named U", {}});
}
if (actual.component_labels != displacementComponentLabels()) {
result.diagnostics.push_back({Severity::Error, "FESA-COMPARE-COMPONENT-LABELS", "FESA U field component labels must be UX,UY,UZ,RX,RY,RZ", {}});
}
if (actual.position != "NODAL" || actual.entity_type != "node" || actual.basis != "GLOBAL") {
result.diagnostics.push_back({Severity::Error, "FESA-COMPARE-FIELD-METADATA", "FESA U field must be nodal values in the global basis", {}});
}
if (actual.entity_ids.size() != actual.values.size()) {
result.diagnostics.push_back({Severity::Error, "FESA-COMPARE-FIELD-SIZE", "FESA U field entity/value counts differ", {}});
}
std::map<GlobalId, std::array<Real, 6>> actual_by_node;
const std::size_t actual_count = std::min(actual.entity_ids.size(), actual.values.size());
for (std::size_t i = 0; i < actual_count; ++i) {
if (actual_by_node.count(actual.entity_ids[i]) != 0) {
result.diagnostics.push_back(
{Severity::Error, "FESA-COMPARE-DUPLICATE-ACTUAL", "FESA U field contains duplicate node " + std::to_string(actual.entity_ids[i]), {}});
continue;
}
actual_by_node[actual.entity_ids[i]] = actual.values[i];
}
for (const auto& [node_id, row] : expected.rows) {
auto actual_it = actual_by_node.find(node_id);
if (actual_it == actual_by_node.end()) {
result.diagnostics.push_back({Severity::Error, "FESA-COMPARE-MISSING-ACTUAL", "FESA U field is missing node " + std::to_string(node_id), {}});
continue;
}
for (std::size_t component = 0; component < 6; ++component) {
const Real expected_value = row.values[component];
const Real actual_value = actual_it->second[component];
const Real abs_error = std::fabs(actual_value - expected_value);
const Real scale = std::max(std::fabs(expected_value), std::fabs(options.reference_scale));
const Real rel_error = scale > 0.0 ? abs_error / scale : (abs_error == 0.0 ? 0.0 : std::numeric_limits<Real>::infinity());
result.max_abs_error = std::max(result.max_abs_error, abs_error);
result.max_rel_error = std::max(result.max_rel_error, rel_error);
if (!(abs_error <= options.abs_tol || rel_error <= options.rel_tol)) {
const std::string component_label = displacementComponentLabels()[component];
result.diagnostics.push_back({Severity::Error, "FESA-COMPARE-TOLERANCE",
"Displacement comparison failed at node " + std::to_string(node_id) + " component " + component_label, {}});
}
}
}
result.pass = !hasError(result.diagnostics);
return result;
}
} // namespace fesa
Reference in New Issue View Git Blame Copy Permalink