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// © 2013 Jan Elias, http://www.fce.vutbr.cz/STM/elias.j/, elias.j@fce.vutbr.cz
// https://www.vutbr.cz/www_base/gigadisk.php?i=95194aa9a
#ifdef YADE_CGAL
// NDEBUG causes crashes in CGAL sometimes. Anton
#ifdef NDEBUG
#undef NDEBUG
#endif
#include <lib/high-precision/Constants.hpp>
#include <pkg/polyhedra/Polyhedra_splitter.hpp>
#include <sys/stat.h>
namespace yade { // Cannot have #include directive inside.
YADE_PLUGIN((PolyhedraSplitter)(SplitPolyTauMax)(SplitPolyMohrCoulomb));
CREATE_LOGGER(PolyhedraSplitter);
CREATE_LOGGER(SplitPolyTauMax);
CREATE_LOGGER(SplitPolyMohrCoulomb);
using PSplitTwo = std::tuple<const shared_ptr<Body>, Vector3r, Vector3r>;
using PSplitOne = std::tuple<const shared_ptr<Body>, Vector3r>;
//*********************************************************************************
/* Evaluate tensorial stress estimation in polyhedras */
void getStressForEachBody(vector<Matrix3r>& bStresses)
{
const shared_ptr<Scene>& scene = Omega::instance().getScene();
FOREACH(const shared_ptr<Interaction>& I, *scene->interactions)
{
if (!I->isReal()) continue;
PolyhedraGeom* geom = YADE_CAST<PolyhedraGeom*>(I->geom.get());
PolyhedraPhys* phys = YADE_CAST<PolyhedraPhys*>(I->phys.get());
if (!geom || !phys) continue;
Vector3r f = phys->normalForce + phys->shearForce;
//Sum f_i*l_j for each contact of each particle
const auto cP = geom->contactPoint;
const auto posB1 = Body::byId(I->getId1(), scene)->state->pos;
const auto posB2 = Body::byId(I->getId2(), scene)->state->pos;
bStresses[I->getId1()] -= f * ((cP - posB1).transpose());
bStresses[I->getId2()] += f * ((cP - posB2).transpose());
}
}
//*********************************************************************************
/* Size dependent strength */
Real PolyhedraSplitter::getStrength(const Real& volume, const Real& strength) const
{
//equvalent radius
const Real r_eq = pow(volume * 3. / 4. / Mathr::PI, 1. / 3.);
//r should be in milimeters
return strength / (r_eq / 1000.);
}
//*********************************************************************************
/* Symmetrization of stress tensor */
void PolyhedraSplitter::Symmetrize(Matrix3r& bStress)
{
bStress(0, 1) = (bStress(0, 1) + bStress(1, 0)) / 2.;
bStress(0, 2) = (bStress(0, 2) + bStress(2, 0)) / 2.;
bStress(1, 2) = (bStress(1, 2) + bStress(2, 1)) / 2.;
bStress(1, 0) = bStress(0, 1);
bStress(2, 0) = bStress(0, 2);
bStress(2, 1) = bStress(1, 2);
}
//**********************************************************************************
//split polyhedra
void SplitPolyhedraDouble(const PSplitTwo& split)
{
const auto& b = (get<0>(split));
const auto& d1 = (get<1>(split));
const auto& d2 = (get<2>(split));
const Se3r& se3 = b->state->se3;
const Vector3r pnt = se3.position;
shared_ptr<Body> B2 = SplitPolyhedra(b, d1, pnt);
shared_ptr<Body> B3 = SplitPolyhedra(B2, d2, pnt);
shared_ptr<Body> B4 = SplitPolyhedra(b, d2, pnt);
}
//*********************************************************************************
/* Split if stress exceed strength */
void PolyhedraSplitter::action()
{
static bool first = true;
if (first) {
LOG_WARN("be careful, the PolyhedraSplitter returns different results depending on CGAL version! This will not produce reproducible "
"calculations. For details see https://gitlab.com/yade-dev/trunk/issues/45");
first = false;
}
const shared_ptr<Scene> _rb = shared_ptr<Scene>();
shared_ptr<Scene> rb = (_rb ? _rb : Omega::instance().getScene());
vector<PSplitTwo> splitsV;
vector<Matrix3r> bStresses(scene->bodies->size(), Matrix3r::Zero());
getStressForEachBody(bStresses);
for (const auto& b : *(rb->bodies)) {
if (!b || !b->material || !b->shape) continue;
shared_ptr<Polyhedra> p = YADE_PTR_DYN_CAST<Polyhedra>(b->shape);
shared_ptr<PolyhedraMat> m = YADE_PTR_DYN_CAST<PolyhedraMat>(b->material);
if (p && m->IsSplitable) {
//not real strees, to get real one, it has to be divided by body volume
Matrix3r stress = bStresses[b->id];
//get eigenstresses
Symmetrize(stress);
Matrix3r I_vect(Matrix3r::Zero()), I_valu(Matrix3r::Zero());
matrixEigenDecomposition(stress, I_vect, I_valu);
Eigen::Matrix3f::Index min_i, max_i;
I_valu.diagonal().minCoeff(&min_i);
I_valu.diagonal().maxCoeff(&max_i);
//division of stress by volume
const Vector3r dirC = I_vect.col(max_i);
const Vector3r dirT = I_vect.col(min_i);
const Vector3r dir1 = dirC.normalized() + dirT.normalized();
const Vector3r dir2 = dirC.normalized() - dirT.normalized();
//double sigma_t = -comp_stress/2.+ tens_stress;
const Real sigma_t
= pow((pow(I_valu(0, 0) - I_valu(1, 1), 2) + pow(I_valu(0, 0) - I_valu(2, 2), 2) + pow(I_valu(1, 1) - I_valu(2, 2), 2)) / 2.,
0.5)
/ p->GetVolume();
if (sigma_t > getStrength(p->GetVolume(), m->GetStrength())) {
splitsV.push_back(std::make_tuple(b, dir1.normalized(), dir2.normalized()));
}
}
}
std::for_each(splitsV.begin(), splitsV.end(), &SplitPolyhedraDouble);
}
//*********************************************************************************
/* Split if stress exceed strength */
void SplitPolyTauMax::action()
{
// declaration of ‘scene’ shadows a member of ‘yade::SplitPolyTauMax’ [-Werror=shadow]
const shared_ptr<Scene>& scene2 = Omega::instance().getScene();
vector<PSplitOne> splitsV;
vector<Matrix3r> bStresses(scene2->bodies->size(), Matrix3r::Zero());
getStressForEachBody(bStresses);
for (const auto& b : *scene2->bodies) {
if (!b || !b->material || !b->shape) continue;
shared_ptr<Polyhedra> p = YADE_PTR_DYN_CAST<Polyhedra>(b->shape);
shared_ptr<PolyhedraMat> m = YADE_PTR_DYN_CAST<PolyhedraMat>(b->material);
if (p && m->IsSplitable) {
//not real strees, to get real one, it has to be divided by body volume
Matrix3r Sigma = bStresses[b->id];
//get eigenstresses
Symmetrize(Sigma);
Eigen::SelfAdjointEigenSolver<Matrix3r> es(Sigma);
const Matrix3r eVect = es.eigenvectors();
const Vector3r eVals = es.eigenvalues() / p->GetVolume();
unsigned int S1_i, /*S2_i,*/ S3_i; // commented out to remove warning about unused variable - Janek
Real S1, /*S2, */ S3; // commented out to remove warning about unused variable - Janek
std::set<unsigned int> inds { 1, 2, 3 };
// Sigmas: indices and values
S1 = eVals.maxCoeff(&S1_i);
inds.erase(S1_i);
S3 = eVals.minCoeff(&S3_i);
inds.erase(S3_i);
// S2_i = *inds.begin(); // commented out to remove warning about unused variable - Janek
// S2 = eVals[S2_i]; // commented out to remove warning about unused variable - Janek
// Taus
// const Real T1 = 0.5 * math::abs(S2 - S3); // commented out to remove warning about unused variable - Janek
const Real T2 = 0.5 * math::abs(S1 - S3); // Max
// const Real T3 = 0.5 * math::abs(S1 - S2); // commented out to remove warning about unused variable - Janek
if ((m->GetStrengthTau() > 0) && (T2 > (getStrength(p->GetVolume(), m->GetStrengthTau()) * 1000))) {
//Split direction, tangential
LOG_DEBUG("Split in tangential direction")
const Vector3r SplitVector = (eVect.col(S1_i) + eVect.col(S3_i));
splitsV.push_back(std::make_tuple(b, SplitVector.normalized()));
} else {
// Set absolute values for normal stresses
Vector3r eValsAbs = Vector3r::Zero();
for (unsigned short i = 0; i < 3; i++)
eValsAbs[i] = math::abs(eVals[i]);
S1 = eValsAbs.maxCoeff(&S1_i);
if (S1 > getStrength(p->GetVolume(), m->GetStrength() * 1000)) {
//Split direction, normal
LOG_DEBUG("Split in normal direction")
const Vector3r SplitVector = (eVect.col(S1_i));
splitsV.push_back(std::make_tuple(b, SplitVector.normalized()));
}
}
}
}
for (auto s : splitsV) {
const auto b = get<0>(s);
const auto vec = get<1>(s);
// Polyhedra* A = static_cast<Polyhedra*>(b->shape.get()); // commented out to remove warning about unused variable - Janek
//PrintPolyhedron(A->GetPolyhedron());
shared_ptr<Body> B2 = SplitPolyhedra(b, vec, b->state->pos);
// A = static_cast<Polyhedra*>(b->shape.get()); // commented out to remove warning about unused variable - Janek
//PrintPolyhedron(A->GetPolyhedron());
// A = static_cast<Polyhedra*>(B2->shape.get()); // commented out to remove warning about unused variable - Janek
//PrintPolyhedron(A->GetPolyhedron());
}
}
//*********************************************************************************
/* Split if stress exceed strength */
inline bool isPolyhedraBroken(const Real& Sigma0, const Real& Sigma, const Real& V0, const Real& V, unsigned int m, const Real& P)
{
// [Gladky2017], eq. (6)
const Real failureProbability = 1 - exp(-V / V0 * (math::pow((Sigma / Sigma0), m)));
if (failureProbability > P) {
return true;
} else {
return false;
}
}
void SplitPolyMohrCoulomb::action()
{
// declaration of ‘scene’ shadows a member of ‘yade::SplitPolyTauMax’ [-Werror=shadow]
const shared_ptr<Scene>& scene2 = Omega::instance().getScene();
vector<PSplitOne> splitsV;
vector<Matrix3r> bStresses(scene2->bodies->size(), Matrix3r::Zero());
getStressForEachBody(bStresses);
std::ofstream fileS;
struct stat buffer;
if (stat(fileName.c_str(), &buffer) != 0) {
fileS.open(fileName, ios::out);
fileS << "id\ttime\titer\tV\tmass\tS1\tS3\tSigmaCD\tSigmaCZ\tSigmaT\tSigmaV\tSigma0\tWei_m\tWei_V0\tP\tpGen\tVersagen\tS2" << std::endl;
fileS.close();
}
fileS.open(fileName, ios::out | ios::app);
for (const auto& b : *(scene2->bodies)) {
if (!b || !b->material || !b->shape) continue;
shared_ptr<Polyhedra> p = YADE_PTR_DYN_CAST<Polyhedra>(b->shape);
shared_ptr<PolyhedraMat> m = YADE_PTR_DYN_CAST<PolyhedraMat>(b->material);
if (p && m->IsSplitable) {
//not real strees, to get real one, it has to be divided by body volume
Matrix3r Sigma = bStresses[b->id];
//get eigenstresses
Symmetrize(Sigma);
Eigen::SelfAdjointEigenSolver<Matrix3r> es(Sigma);
const Matrix3r eVect = es.eigenvectors();
const Vector3r eVals = es.eigenvalues() / p->GetVolume();
const auto V0 = m->GetWeiV0();
const auto V = p->GetVolume();
const auto M = m->GetWeiM();
const auto P = m->GetP();
unsigned int S1_i = 0, S2_i = 0, S3_i = 0;
Real S1 = 0., S2 = 0., S3 = 0.;
std::set<unsigned int> inds { 0, 1, 2 };
// Sigmas: indices and values
S1 = eVals.maxCoeff(&S1_i);
inds.erase(S1_i);
S3 = eVals.minCoeff(&S3_i);
inds.erase(S3_i);
S2_i = *inds.begin();
S2 = eVals[S2_i];
if ((m->GetStrengthSigmaCZ() > 0) && (m->GetStrengthSigmaCD() > 0)) {
//Split direction, tangential
const Real SigmaCZ = m->GetStrengthSigmaCZ();
const Real SigmaCD = m->GetStrengthSigmaCD();
bool BodyBroken = false;
Real SigmaV = 0.;
//==================================
if (S1 <= 0 and S3 <= 0) {
if (P > 0) {
BodyBroken = isPolyhedraBroken(SigmaCD, -S3, V0, V, M, P);
} else {
if (S3 < -SigmaCD) { BodyBroken = true; }
}
SigmaV = -S3;
} else if (S1 > 0 and S3 > 0) {
if (P > 0) {
BodyBroken = isPolyhedraBroken(math::abs(SigmaCZ), S1, V0, V, M, P);
} else {
if (S1 > SigmaCZ) { BodyBroken = true; }
}
SigmaV = S1;
} else {
const Real SigmaT = S1 - SigmaCZ / SigmaCD * S3;
if (P > 0) {
BodyBroken = isPolyhedraBroken(math::abs(SigmaCZ), math::abs(SigmaT), V0, V, M, P);
} else {
if (SigmaT >= SigmaCZ) { BodyBroken = true; }
}
SigmaV = math::abs(SigmaT);
}
//==================================
fileS << b->id << "\t" << scene2->time << "\t" << scene2->iter << "\t" << V << "\t" << b->state->mass << "\t" << S1 << "\t"
<< S3 << "\t" << SigmaCD << "\t" << SigmaCZ << "\t" << (S1 - SigmaCZ / SigmaCD * S3) << "\t" << SigmaV << "\t"
<< m->GetWeiS0() << "\t" << M << "\t" << V0 << "\t" << m->GetP() << "\t";
fileS << "-1\t";
fileS << BodyBroken << "\t";
fileS << S2 << "\n";
if (BodyBroken) {
const Vector3r SplitVector = (eVect.col(S1_i) + eVect.col(S3_i));
splitsV.push_back(std::make_tuple(b, SplitVector.normalized()));
}
}
}
}
fileS.close();
for (auto s : splitsV) {
const auto b = get<0>(s);
const auto vec = get<1>(s);
shared_ptr<Body> B2 = SplitPolyhedra(b, vec, b->state->pos);
}
}
} // namespace yade
#endif // YADE_CGAL
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