contact_dynamics.h

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/* -------------------------------------------------------------------------*
 *                              SPHinXsys                                   *
 * --------------------------------------------------------------------------*
 * SPHinXsys (pronunciation: s'finksis) is an acronym from Smoothed Particle    *
 * Hydrodynamics for industrial compleX systems. It provides C++ APIs for   *
 * physical accurate simulation and aims to model coupled industrial dynamic *
 * systems including fluid, solid, multi-body dynamics and beyond with SPH  *
 * (smoothed particle hydrodynamics), a meshless computational method using *
 * particle discretization.                                                 *
 *                                                                          *
 * SPHinXsys is partially funded by German Research Foundation              *
 * (Deutsche Forschungsgemeinschaft) DFG HU1527/6-1, HU1527/10-1                *
 * and HU1527/12-1.                                                         *
 *                                                                           *
 * Portions copyright (c) 2017-2020 Technical University of Munich and      *
 * the authors' affiliations.                                               *
 *                                                                           *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may   *
 * not use this file except in compliance with the License. You may obtain a *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.        *
 *                                                                           *
 * --------------------------------------------------------------------------*/
#ifndef CONTACT_DYNAMICS_H
#define CONTACT_DYNAMICS_H

#include "general_solid_dynamics.h"

namespace SPH
{
    class SPHBody;
    class Kernel;
    namespace solid_dynamics
    {
        typedef DataDelegateContact<SolidBody, SolidParticles, Solid, SolidBody, SolidParticles, Solid> ContactDynamicsData;
        typedef DataDelegateContact<SolidBody, SolidParticles, ElasticSolid, SolidBody, SolidParticles, Solid> ContactWithWallData;

        class SelfContactDensitySummation : public PartInteractionDynamicsByParticle, public SolidDataInner
        {
        public:
            explicit SelfContactDensitySummation(SolidBodyRelationSelfContact &self_contact_relation);
            virtual ~SelfContactDensitySummation(){};

        protected:
            StdLargeVec<Real> self_contact_density_;
            StdLargeVec<Real> &mass_;
            Real offset_W_ij_;

            virtual void Interaction(size_t index_i, Real dt = 0.0) override;
        };

        class ContactDensitySummation : public PartInteractionDynamicsByParticle, public ContactDynamicsData
        {
        public:
            explicit ContactDensitySummation(SolidBodyRelationContact &solid_body_contact_relation);
            virtual ~ContactDensitySummation(){};

        protected:
            StdLargeVec<Real> contact_density_;
            StdLargeVec<Real> &mass_;
            StdVec<StdLargeVec<Real> *> contact_mass_;
            StdVec<Real> offset_W_ij_;

            virtual void Interaction(size_t index_i, Real dt = 0.0) override;
        };

        class ShellContactDensity : public PartInteractionDynamicsByParticle, public ContactDynamicsData
        {
        public:
            explicit ShellContactDensity(SolidBodyRelationContact &solid_body_contact_relation);
            virtual ~ShellContactDensity(){};

        protected:
            StdLargeVec<Real> contact_density_;
            StdVec<StdLargeVec<Vecd> *> contact_pos_;
            StdLargeVec<Vecd> &pos_;

            Kernel *kernel_;
            Real spacing_ref_, boundary_factor_;

            virtual void Interaction(size_t index_i, Real dt = 0.0) override;

            Real x_0 = 0.774596669241483377035853079956;
            Real x_1 = 0.000000000000000000000000000000;
            Real x_2 = -x_0;

            Real w_0 = 0.555555555555555555555555555556;
            Real w_1 = 0.888888888888888888888888888889;
            Real w_2 = w_0;
        };

        class SelfContactForce : public PartInteractionDynamicsByParticle, public SolidDataInner
        {
        public:
            explicit SelfContactForce(SolidBodyRelationSelfContact &self_contact_relation);
            virtual ~SelfContactForce(){};

        protected:
            StdLargeVec<Real> &mass_, &self_contact_density_, &Vol_;
            StdLargeVec<Vecd> &acc_prior_, &vel_;
            Real contact_impedance_;

            virtual void Interaction(size_t index_i, Real dt = 0.0) override;
        };

        class ContactForce : public PartInteractionDynamicsByParticle, public ContactDynamicsData
        {
        public:
            explicit ContactForce(SolidBodyRelationContact &solid_body_contact_relation);
            virtual ~ContactForce(){};

        protected:
            StdLargeVec<Real> &contact_density_, &Vol_, &mass_;
            StdLargeVec<Vecd> &acc_prior_;
            StdVec<StdLargeVec<Real> *> contact_contact_density_, contact_Vol_;

            virtual void Interaction(size_t index_i, Real dt = 0.0) override;
        };

        class ContactForceFromWall : public PartInteractionDynamicsByParticle, public ContactWithWallData
        {
        public:
            explicit ContactForceFromWall(SolidBodyRelationContact &solid_body_contact_relation);
            virtual ~ContactForceFromWall(){};

        protected:
            StdLargeVec<Real> &contact_density_, &Vol_, &mass_;
            StdLargeVec<Vecd> &acc_prior_;
            StdVec<StdLargeVec<Real> *> contact_Vol_;

            virtual void Interaction(size_t index_i, Real dt = 0.0) override;
        };

        class ContactForceToWall : public PartInteractionDynamicsByParticle, public ContactDynamicsData
        {
        public:
            explicit ContactForceToWall(SolidBodyRelationContact &solid_body_contact_relation);
            virtual ~ContactForceToWall(){};

        protected:
            StdLargeVec<Real> &Vol_, &mass_;
            StdLargeVec<Vecd> &acc_prior_;
            StdVec<StdLargeVec<Real> *> contact_contact_density_, contact_Vol_;

            virtual void Interaction(size_t index_i, Real dt = 0.0) override;
        };

        class PairwiseFrictionFromWall : public InteractionDynamicsSplitting, public ContactWithWallData
        {
        public:
            PairwiseFrictionFromWall(BaseBodyRelationContact &contact_relation, Real eta);
            virtual ~PairwiseFrictionFromWall(){};

        protected:
            Real eta_; 
            StdLargeVec<Real> &Vol_, &mass_;
            StdLargeVec<Vecd> &vel_;
            StdVec<StdLargeVec<Real> *> wall_Vol_;
            StdVec<StdLargeVec<Vecd> *> wall_vel_n_, wall_n_;

            virtual void Interaction(size_t index_i, Real dt = 0.0) override;
        };

        class DynamicContactForceWithWall : public PartInteractionDynamicsByParticle, public ContactDynamicsData
        {
        public:
            explicit DynamicContactForceWithWall(SolidBodyRelationContact &solid_body_contact_relation, Real penalty_strength = 1.0);
            virtual ~DynamicContactForceWithWall(){};

        protected:
            StdLargeVec<Real> &Vol_, &mass_;
            StdLargeVec<Vecd> &vel_, &acc_prior_;
            StdVec<StdLargeVec<Real> *> contact_Vol_;
            StdVec<StdLargeVec<Vecd> *> contact_vel_n_, contact_n_;
            Real penalty_strength_;
            Real impedance_, reference_pressure_;

            virtual void Interaction(size_t index_i, Real dt = 0.0) override;
        };
    }
}
#endif // CONTACT_DYNAMICS_H