HydroMechanicsFEM.h

Go to the documentation of this file.

// SPDX-FileCopyrightText: Copyright (c) OpenGeoSys Community (opengeosys.org)
// SPDX-License-Identifier: BSD-3-Clause
 
#pragma once
 
#include <memory>
#include <vector>
 
#include "HydroMechanicsProcessData.h"
#include "LocalAssemblerInterface.h"
#include "MaterialLib/PhysicalConstant.h"
#include "MaterialLib/SolidModels/LinearElasticIsotropic.h"
#include "MathLib/EigenBlockMatrixView.h"
#include "MathLib/KelvinVector.h"
#include "MathLib/LinAlg/Eigen/EigenMapTools.h"
#include "NumLib/DOF/DOFTableUtil.h"
#include "NumLib/Fem/InitShapeMatrices.h"
#include "NumLib/Fem/Integration/GenericIntegrationMethod.h"
#include "NumLib/Fem/ShapeMatrixPolicy.h"
#include "ParameterLib/Parameter.h"
#include "ProcessLib/Deformation/BMatrixPolicy.h"
#include "ProcessLib/Deformation/LinearBMatrix.h"
#include "ProcessLib/LocalAssemblerTraits.h"
#include "ProcessLib/Utils/SetOrGetIntegrationPointData.h"
 
namespace ProcessLib
{
namespace HydroMechanics
{
namespace MPL = MaterialPropertyLib;
 
template <typename BMatricesType, typename ShapeMatricesTypeDisplacement,
          typename ShapeMatricesTypePressure, int DisplacementDim, int NPoints>
struct IntegrationPointData final
{
    explicit IntegrationPointData(
        MaterialLib::Solids::MechanicsBase<DisplacementDim> const&
            solid_material)
        : solid_material(solid_material),
          material_state_variables(
              solid_material.createMaterialStateVariables())
    {
    }
 
    typename BMatricesType::KelvinVectorType sigma_eff, sigma_eff_prev;
    typename BMatricesType::KelvinVectorType eps, eps_prev;
 
    typename ShapeMatricesTypeDisplacement::NodalRowVectorType N_u;
    typename ShapeMatricesTypeDisplacement::GlobalDimNodalMatrixType dNdx_u;
 
    typename ShapeMatricesTypePressure::NodalRowVectorType N_p;
    typename ShapeMatricesTypePressure::GlobalDimNodalMatrixType dNdx_p;
 
    MaterialLib::Solids::MechanicsBase<DisplacementDim> const& solid_material;
    std::unique_ptr<typename MaterialLib::Solids::MechanicsBase<
        DisplacementDim>::MaterialStateVariables>
        material_state_variables;
    double integration_weight;
 
    // previous pressure rate for the fixed stress splitting
    // approach in the staggered scheme.
    // TODO: disable in monolithic scheme to save memory.
    double strain_rate_variable = 0.0;
 
    void pushBackState()
    {
        eps_prev = eps;
        sigma_eff_prev = sigma_eff;
        material_state_variables->pushBackState();
    }
 
    MathLib::KelvinVector::KelvinMatrixType<DisplacementDim>
    computeElasticTangentStiffness(
        double const t,
        ParameterLib::SpatialPosition const& x_position,
        double const dt,
        double const temperature)
    {
        namespace MPL = MaterialPropertyLib;
 
        MPL::VariableArray variable_array;
        MPL::VariableArray variable_array_prev;
 
        auto const null_state = solid_material.createMaterialStateVariables();
        solid_material.initializeInternalStateVariables(t, x_position,
                                                        *null_state);
 
        using KV = MathLib::KelvinVector::KelvinVectorType<DisplacementDim>;
 
        variable_array.stress.emplace<KV>(KV::Zero());
        variable_array.mechanical_strain.emplace<KV>(KV::Zero());
        variable_array.temperature = temperature;
 
        variable_array_prev.stress.emplace<KV>(KV::Zero());
        variable_array_prev.mechanical_strain.emplace<KV>(KV::Zero());
        variable_array_prev.temperature = temperature;
 
        auto&& solution =
            solid_material.integrateStress(variable_array_prev, variable_array,
                                           t, x_position, dt, *null_state);
 
        if (!solution)
        {
            OGS_FATAL("Computation of elastic tangent stiffness failed.");
        }
 
        MathLib::KelvinVector::KelvinMatrixType<DisplacementDim> C =
            std::move(std::get<2>(*solution));
 
        return C;
    }
 
    template <typename DisplacementVectorType>
    typename BMatricesType::KelvinMatrixType updateConstitutiveRelation(
        MPL::VariableArray const& variable_array,
        double const t,
        ParameterLib::SpatialPosition const& x_position,
        double const dt,
        DisplacementVectorType const& /*u*/,
        double const T)
    {
        MaterialPropertyLib::VariableArray variable_array_prev;
        variable_array_prev.stress
            .emplace<MathLib::KelvinVector::KelvinVectorType<DisplacementDim>>(
                sigma_eff_prev);
        variable_array_prev.mechanical_strain
            .emplace<MathLib::KelvinVector::KelvinVectorType<DisplacementDim>>(
                eps_prev);
        variable_array_prev.temperature = T;
 
        auto&& solution = solid_material.integrateStress(
            variable_array_prev, variable_array, t, x_position, dt,
            *material_state_variables);
 
        if (!solution)
        {
            OGS_FATAL("Computation of local constitutive relation failed.");
        }
 
        MathLib::KelvinVector::KelvinMatrixType<DisplacementDim> C;
        std::tie(sigma_eff, material_state_variables, C) = std::move(*solution);
 
        return C;
    }
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
};

template <typename ShapeMatrixType>
struct SecondaryData
{
    std::vector<ShapeMatrixType, Eigen::aligned_allocator<ShapeMatrixType>> N_u;
};
 
template <typename ShapeFunctionDisplacement, typename ShapeFunctionPressure,
          int DisplacementDim>
class HydroMechanicsLocalAssembler
    : public LocalAssemblerInterface<DisplacementDim>
{
public:
    using ShapeMatricesTypeDisplacement =
        ShapeMatrixPolicyType<ShapeFunctionDisplacement, DisplacementDim>;
 
    // Types for pressure.
    using ShapeMatricesTypePressure =
        ShapeMatrixPolicyType<ShapeFunctionPressure, DisplacementDim>;
 
    static int const KelvinVectorSize =
        MathLib::KelvinVector::kelvin_vector_dimensions(DisplacementDim);
    using Invariants = MathLib::KelvinVector::Invariants<KelvinVectorSize>;
 
    using SymmetricTensor = Eigen::Matrix<double, KelvinVectorSize, 1>;
 
    static constexpr auto& N_u_op = MathLib::eigenBlockMatrixView<
        DisplacementDim,
        typename ShapeMatricesTypeDisplacement::NodalRowVectorType>;
 
    HydroMechanicsLocalAssembler(HydroMechanicsLocalAssembler const&) = delete;
    HydroMechanicsLocalAssembler(HydroMechanicsLocalAssembler&&) = delete;
 
    HydroMechanicsLocalAssembler(
        MeshLib::Element const& e,
        std::size_t const /*local_matrix_size*/,
        NumLib::GenericIntegrationMethod const& integration_method,
        bool const is_axially_symmetric,
        HydroMechanicsProcessData<DisplacementDim>& process_data);

    std::size_t setIPDataInitialConditions(
        std::string_view const name,
        double const* values,
        int const integration_order) override;
 
    void assemble(double const /*t*/, double const /*dt*/,
                  std::vector<double> const& /*local_x*/,
                  std::vector<double> const& /*local_x_prev*/,
                  std::vector<double>& /*local_M_data*/,
                  std::vector<double>& /*local_K_data*/,
                  std::vector<double>& /*local_rhs_data*/) override
    {
        OGS_FATAL(
            "HydroMechanicsLocalAssembler: assembly without jacobian is not "
            "implemented.");
    }
 
    void assembleWithJacobian(double const t, double const dt,
                              std::vector<double> const& local_x,
                              std::vector<double> const& local_x_prev,
                              std::vector<double>& local_rhs_data,
                              std::vector<double>& local_Jac_data) override;
 
    void assembleWithJacobianForStaggeredScheme(
        const double t, double const dt, Eigen::VectorXd const& local_x,
        Eigen::VectorXd const& local_x_prev, int const process_id,
        std::vector<double>& local_b_data,
        std::vector<double>& local_Jac_data) override;
 
    void initializeConcrete() override
    {
        unsigned const n_integration_points =
            _integration_method.getNumberOfPoints();
 
        for (unsigned ip = 0; ip < n_integration_points; ip++)
        {
            auto& ip_data = _ip_data[ip];
 
            ParameterLib::SpatialPosition const x_position{
                std::nullopt, _element.getID(),
                MathLib::Point3d(
                    NumLib::interpolateCoordinates<ShapeFunctionPressure,
                                                   ShapeMatricesTypePressure>(
                        _element, ip_data.N_p))};

            if (_process_data.initial_stress.value)
            {
                ip_data.sigma_eff =
                    MathLib::KelvinVector::symmetricTensorToKelvinVector<
                        DisplacementDim>((*_process_data.initial_stress.value)(
                        std::numeric_limits<
                            double>::quiet_NaN() /* time independent */,
                        x_position));
            }
 
            double const t = 0;  // TODO (naumov) pass t from top
            ip_data.solid_material.initializeInternalStateVariables(
                t, x_position, *ip_data.material_state_variables);
 
            ip_data.pushBackState();
        }
    }
 
    void postTimestepConcrete(Eigen::VectorXd const& local_x,
                              Eigen::VectorXd const& local_x_prev,
                              double const t, double const dt,
                              int const process_id) override;
 
    void computeSecondaryVariableConcrete(
        double const t, double const dt, Eigen::VectorXd const& local_xs,
        Eigen::VectorXd const& local_x_prev) override;
 
    void postNonLinearSolverConcrete(Eigen::VectorXd const& local_x,
                                     Eigen::VectorXd const& local_x_prev,
                                     double const t, double const dt,
                                     int const process_id) override;
 
    void setInitialConditionsConcrete(Eigen::VectorXd const local_x,
                                      double const t,
                                      int const process_id) override;
 
    Eigen::Map<const Eigen::RowVectorXd> getShapeMatrix(
        const unsigned integration_point) const override
    {
        auto const& N_u = _secondary_data.N_u[integration_point];
 
        // assumes N is stored contiguously in memory
        return Eigen::Map<const Eigen::RowVectorXd>(N_u.data(), N_u.size());
    }
 
    // TODO (naumov) This method is same as getIntPtSigma but for arguments and
    // the ordering of the cache_mat.
    // There should be only one.
    std::vector<double> getSigma() const override;
 
    std::vector<double> getEpsilon() const override;
 
    std::vector<double> getStrainRateVariable() const override;
 
    std::vector<double> const& getIntPtDarcyVelocity(
        const double t,
        std::vector<GlobalVector*> const& x,
        std::vector<NumLib::LocalToGlobalIndexMap const*> const& dof_table,
        std::vector<double>& cache) const override;
 
    std::vector<double> const& getIntPtSigma(
        const double /*t*/,
        std::vector<GlobalVector*> const& /*x*/,
        std::vector<NumLib::LocalToGlobalIndexMap const*> const& /*dof_table*/,
        std::vector<double>& cache) const override
    {
        return ProcessLib::getIntegrationPointKelvinVectorData<DisplacementDim>(
            _ip_data, &IpData::sigma_eff, cache);
    }
 
    std::vector<double> const& getIntPtEpsilon(
        const double /*t*/,
        std::vector<GlobalVector*> const& /*x*/,
        std::vector<NumLib::LocalToGlobalIndexMap const*> const& /*dof_table*/,
        std::vector<double>& cache) const override
    {
        return ProcessLib::getIntegrationPointKelvinVectorData<DisplacementDim>(
            _ip_data, &IpData::eps, cache);
    }
 
    int getNumberOfVectorElementsForDeformation() const override
    {
        return displacement_size;
    }
 
private:
    void assembleWithJacobianForDeformationEquations(
        const double t, double const dt, Eigen::VectorXd const& local_x,
        std::vector<double>& local_b_data, std::vector<double>& local_Jac_data);

    void assembleWithJacobianForPressureEquations(
        const double t, double const dt, Eigen::VectorXd const& local_x,
        Eigen::VectorXd const& local_x_prev, std::vector<double>& local_b_data,
        std::vector<double>& local_Jac_data);
 
    unsigned getNumberOfIntegrationPoints() const override;
 
    int getMaterialID() const override;
 
    typename MaterialLib::Solids::MechanicsBase<
        DisplacementDim>::MaterialStateVariables const&
    getMaterialStateVariablesAt(unsigned integration_point) const override;
 
private:
    HydroMechanicsProcessData<DisplacementDim>& _process_data;
 
    using BMatricesType =
        BMatrixPolicyType<ShapeFunctionDisplacement, DisplacementDim>;
    using IpData =
        IntegrationPointData<BMatricesType, ShapeMatricesTypeDisplacement,
                             ShapeMatricesTypePressure, DisplacementDim,
                             ShapeFunctionDisplacement::NPOINTS>;
    std::vector<IpData, Eigen::aligned_allocator<IpData>> _ip_data;
 
    NumLib::GenericIntegrationMethod const& _integration_method;
    MeshLib::Element const& _element;
    bool const _is_axially_symmetric;
    SecondaryData<
        typename ShapeMatricesTypeDisplacement::ShapeMatrices::ShapeType>
        _secondary_data;
 
    static const int pressure_index = 0;
    static const int pressure_size = ShapeFunctionPressure::NPOINTS;
    static const int displacement_index = ShapeFunctionPressure::NPOINTS;
    static const int displacement_size =
        ShapeFunctionDisplacement::NPOINTS * DisplacementDim;
};
 
}  // namespace HydroMechanics
}  // namespace ProcessLib
 
#include "HydroMechanicsFEM-impl.h"