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change the small deformation to finite deformation. #540

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change the small deformation to finite deformation. #540

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2c9f92c
change the small deformation to finite deformation.
rukawaaaaaaa Mar 6, 2024
1b0e0a2
commit two unused variable which represent the torsion
rukawaaaaaaa Mar 7, 2024
f14a131
comment out unused variable
rukawaaaaaaa Mar 7, 2024
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4 changes: 2 additions & 2 deletions src/for_3D_build/particle_dynamics/solid_dynamics/slender_structure_dynamics.cpp
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Expand Up @@ -244,10 +244,10 @@ void BarStressRelaxationSecondHalf::initialization(size_t index_i, Real dt)
Vecd pseudo_b_n_temp = pseudo_b_n_[index_i];

pseudo_n_[index_i] = transformation_matrix_[index_i].transpose() *
getVectorAfterThinStructureRotation(local_pseudo_n_0, rotation_[index_i]);
getVectorAfterThinStructureRotation(local_pseudo_n_0, rotation_[index_i] + rotation_b_[index_i]);

pseudo_b_n_[index_i] = transformation_matrix_[index_i].transpose() *
getVectorAfterThinStructureRotation(local_pseudo_b_n_0, rotation_b_[index_i]);
getVectorAfterThinStructureRotation(local_pseudo_b_n_0, rotation_[index_i] + rotation_b_[index_i]);

if (dt < 1e-10)
{
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10 changes: 5 additions & 5 deletions src/for_3D_build/particle_dynamics/solid_dynamics/slender_structure_dynamics.h
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Expand Up @@ -231,14 +231,14 @@ class BarStressRelaxationFirstHalf : public BaseBarRelaxation

force_[index_i] = force * inv_rho0_ / (thickness_[index_i] * width_[index_i]);
dpseudo_n_d2t_[index_i] = pseudo_normal_acceleration * inv_rho0_ * 12.0 / pow(thickness_[index_i], 4);
dpseudo_b_n_d2t_[index_i] = -pseudo_b_normal_acceleration * inv_rho0_ * 12.0 / pow(thickness_[index_i], 4);
dpseudo_b_n_d2t_[index_i] = pseudo_b_normal_acceleration * inv_rho0_ * 12.0 / pow(thickness_[index_i], 4);

Vecd local_dpseudo_n_d2t = transformation_matrix_[index_i] * dpseudo_n_d2t_[index_i];
Vecd local_dpseudo_b_n_d2t = transformation_matrix_[index_i] * dpseudo_b_n_d2t_[index_i];
dangular_b_vel_dt_[index_i] = getRotationFromPseudoNormalForSmallDeformation_b(
Vec3d(local_dpseudo_b_n_d2t), Vec3d(local_dpseudo_n_d2t), Vec3d(rotation_b_[index_i]), Vec3d(angular_b_vel_[index_i]), dt);
dangular_vel_dt_[index_i] = getRotationFromPseudoNormalForSmallDeformation(
Vec3d(local_dpseudo_b_n_d2t), Vec3d(local_dpseudo_n_d2t), Vec3d(rotation_[index_i]), Vec3d(angular_vel_[index_i]), dt);
dangular_b_vel_dt_[index_i] = getRotationFromPseudoNormalForFiniteDeformation_b(
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Since this pull request focuses on Finite Deformation/Rotation, could you add a test case with a large rotation?

Vec3d(local_dpseudo_b_n_d2t), Vec3d(rotation_b_[index_i]), Vec3d(angular_b_vel_[index_i]), dt);
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Here, Vec3d is not needed, since the slender structure simulation is always 3D.

dangular_vel_dt_[index_i] = getRotationFromPseudoNormalForFiniteDeformation(
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Please notice the writing, thanks:) Two more spaces here.

Vec3d(local_dpseudo_n_d2t), Vec3d(rotation_[index_i]), Vec3d(angular_vel_[index_i]), dt);
};

void update(size_t index_i, Real dt = 0.0);
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39 changes: 36 additions & 3 deletions src/for_3D_build/particle_dynamics/solid_dynamics/slender_structure_math.cpp
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Expand Up @@ -52,11 +52,11 @@ Vec3d getRotationFromPseudoNormalForFiniteDeformation(const Vec3d &dpseudo_n_d2t
Real sin_rotation_1 = sin(rotation[1]);
Real cos_rotation_1 = cos(rotation[1]);

Real rotation_0_a = -(dpseudo_n_d2t[2] * cos_rotation_1 + dpseudo_n_d2t[0] * sin_rotation_1 +
/* Real rotation_0_a = -(dpseudo_n_d2t[2] * cos_rotation_1 + dpseudo_n_d2t[0] * sin_rotation_1 +
angular_vel[1] * angular_vel[1] * cos_rotation_0 + angular_vel[0] * angular_vel[0] * cos_rotation_0);
Real rotation_0_b = sin_rotation_0 * angular_vel[0] * angular_vel[0] - dpseudo_n_d2t[1];
Real angle_vel_dt_0 = sin_rotation_0 * rotation_0_a + cos_rotation_0 * rotation_0_b;

*/
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These comments can be deleted now.

Real rotation_1_a = dpseudo_n_d2t[0] * cos_rotation_1 - dpseudo_n_d2t[2] * sin_rotation_1 +
2.0 * angular_vel[1] * angular_vel[0] * sin_rotation_0;
Real rotation_1_b1 = dpseudo_n_d2t[0] * cos_rotation_0 +
Expand All @@ -70,10 +70,43 @@ Vec3d getRotationFromPseudoNormalForFiniteDeformation(const Vec3d &dpseudo_n_d2t
Real angle_vel_dt_1 = rotation_1_a * rotation_1_a * (rotation_1_b1 * cos_rotation_1 + rotation_1_b2 * sin_rotation_1) /
(rotation_1_b1 * rotation_1_b1 + rotation_1_b2 * rotation_1_b2 + Eps);

return Vec3d(angle_vel_dt_0, angle_vel_dt_1, 0.0);
return Vec3d(0, angle_vel_dt_1, 0.0);
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For writing consistency, 0.0 should be here.

}
//=================================================================================================//


Vec3d getRotationFromPseudoNormalForFiniteDeformation_b(const Vec3d &dpseudo_b_n_d2t, const Vec3d &rotation_b, const Vec3d &angular_b_vel, Real dt)
{
Real sin_rotation_b_0 = sin(rotation_b[0]);
Real cos_rotation_b_0 = cos(rotation_b[0]);
Real sin_rotation_b_2 = sin(rotation_b[2]);
Real cos_rotation_b_2 = cos(rotation_b[2]);
/*
Real rotation_b_0_a = (dpseudo_b_n_d2t[0] * sin_rotation_b_2 - dpseudo_b_n_d2t[1] * cos_rotation_b_2 - cos_rotation_b_0 * angular_b_vel[2] * angular_b_vel[2] - cos_rotation_b_0 * angular_b_vel[0] * angular_b_vel[0]);

Real rotation_b_0_b = dpseudo_b_n_d2t[2] + sin_rotation_b_0 * angular_b_vel[0] * angular_b_vel[0];

Real angle_b_vel_dt_0 = sin_rotation_b_0 * rotation_b_0_a + cos_rotation_b_0 * rotation_b_0_b;
*/
Real rotation_b_c = (-dpseudo_b_n_d2t[0] * cos_rotation_b_2 - dpseudo_b_n_d2t[1] * sin_rotation_b_2 + 2 * angular_b_vel[2] * angular_b_vel[0] * sin_rotation_b_0);

Real rotation_b_c1 = -dpseudo_b_n_d2t[0] * cos_rotation_b_0 +
angular_b_vel[2] * angular_b_vel[2] * cos_rotation_b_0 * cos_rotation_b_0 * sin_rotation_b_2 +
angular_b_vel[0] * angular_b_vel[0] * sin_rotation_b_2 +
dpseudo_b_n_d2t[2] * sin_rotation_b_0 * sin_rotation_b_2 +
2.0 * angular_b_vel[0] * angular_b_vel[2] * cos_rotation_b_2 * cos_rotation_b_0 * sin_rotation_b_0;

Real rotation_b_c2 = -dpseudo_b_n_d2t[1] * cos_rotation_b_0 -
angular_b_vel[2] * angular_b_vel[2] * cos_rotation_b_2 * cos_rotation_b_0 * cos_rotation_b_0 -
angular_b_vel[0] * angular_b_vel[0] * cos_rotation_b_2 -
dpseudo_b_n_d2t[2] * sin_rotation_b_0 * cos_rotation_b_2 +
2.0 * angular_b_vel[0] * angular_b_vel[2] * sin_rotation_b_2 * sin_rotation_b_0 * cos_rotation_b_0;

Real angle_b_vel_dt_2 = rotation_b_c * rotation_b_c * (rotation_b_c1 * cos_rotation_b_2 + rotation_b_c2 * sin_rotation_b_2) / (rotation_b_c1 * rotation_b_c1 + rotation_b_c2 * rotation_b_c2 + Eps);
return Vec3d(0, 0.0, angle_b_vel_dt_2);
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same here


}
//=================================================================================================//
Vec3d getRotationFromPseudoNormalForSmallDeformation(
const Vec3d &dpseudo_b_n_d2t, const Vec3d &dpseudo_n_d2t, const Vec3d &rotation, const Vec3d &angular_vel, Real dt)
{
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2 changes: 2 additions & 0 deletions src/for_3D_build/particle_dynamics/solid_dynamics/slender_structure_math.h
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Expand Up @@ -51,6 +51,8 @@ Vec3d getVectorChangeRateAfterThinStructureRotation(const Vec3d &initial_vector,

/** get the rotation from pseudo-normal for finite deformation. */
Vec3d getRotationFromPseudoNormalForFiniteDeformation(const Vec3d &dpseudo_n_d2t, const Vec3d &rotation, const Vec3d &angular_vel, Real dt);
/** get the rotation from pseudo-binormal for finite deformation. */
Vec3d getRotationFromPseudoNormalForFiniteDeformation_b(const Vec3d &dpseudo_b_n_d2t, const Vec3d &rotation_b, const Vec3d &angular_b_vel, Real dt);

/** get the rotation from pseudo-normal for small deformation. */
Vec3d getRotationFromPseudoNormalForSmallDeformation(const Vec3d &dpseudo_b_n_d2t, const Vec3d &dpseudo_n_d2t, const Vec3d &rotation, const Vec3d &angular_vel, Real dt);
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