nimble_contact_interface.h

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#ifndef SRC_NIMBLE_CONTACT_INTERFACE_H_
#define SRC_NIMBLE_CONTACT_INTERFACE_H_
 
#include <iostream>
 
#include "nimble_defs.h"
 
#ifdef NIMBLE_HAVE_KOKKOS
#include "nimble_kokkos_contact_defs.h"
#endif
 
namespace nimble {
 
#ifdef NIMBLE_HAVE_KOKKOS
 
struct KokkosPenaltyContactEnforcement
{
  KokkosPenaltyContactEnforcement() : penalty(0.0) {}
 
  ~KokkosPenaltyContactEnforcement() = default;
 
  KOKKOS_FORCEINLINE_FUNCTION
  void
  EnforceContact(
      ContactEntity& node,
      ContactEntity& face,
      int            numNodeFaces,
      const double   gap,
      const double   direction[3],
      const double   closest_pt[3]) const
  {
    if (gap < 0.0) {
      double       contact_force[3]{};
      const double scale = penalty * gap / numNodeFaces;
      for (int i = 0; i < 3; ++i) { contact_force[i] = scale * direction[i]; }
      face.ComputeNodalContactForces(contact_force, closest_pt);
      for (double& ff : contact_force) { ff *= -1.0; }
      node.ComputeNodalContactForces(contact_force, closest_pt);
      node.ScatterForceToContactManagerForceVector(contact_manager_force);
      face.ScatterForceToContactManagerForceVector(contact_manager_force);
    }
  }
 
  double                              penalty;
  nimble_kokkos::DeviceScalarNodeView contact_manager_force;
};
 
#endif
 
class ContactInterface
{
 public:
  ContactInterface()          = default;
  virtual ~ContactInterface() = default;
 
  void
  SetUpPenaltyEnforcement(const double penalty_param)
  {
#ifdef NIMBLE_HAVE_KOKKOS
    enforcement.penalty = penalty_param;
#endif
  }
 
#ifdef NIMBLE_HAVE_KOKKOS
  /// \brief Set the contact force manager to a specific Kokkos::View
  void
  SetContactForce(nimble_kokkos::DeviceScalarNodeView contact_manager_force)
  {
    enforcement.contact_manager_force = contact_manager_force;
  }
 
  void
  ComputeContact(
      nimble_kokkos::DeviceContactEntityArrayView contact_nodes,
      nimble_kokkos::DeviceContactEntityArrayView contact_faces,
      nimble_kokkos::DeviceScalarNodeView         contact_manager_force)
  {
    ZeroContactForces(contact_manager_force);
    enforcement.contact_manager_force = contact_manager_force;
    DoSearchAndEnforcement(contact_nodes, contact_faces, enforcement);
  }
 
 protected:
  inline void
  ZeroContactForces(nimble_kokkos::DeviceScalarNodeView contact_manager_force) const
  {
    Kokkos::deep_copy(contact_manager_force, 0.0);
  }
 
  virtual void
  DoSearchAndEnforcement(
      nimble_kokkos::DeviceContactEntityArrayView contact_nodes,
      nimble_kokkos::DeviceContactEntityArrayView contact_faces,
      KokkosPenaltyContactEnforcement             contact_enforcement)
  {
    std::cerr << "Warning: running no-op contact---no interface enabled!" << std::endl;
  }
 
  KOKKOS_FORCEINLINE_FUNCTION
  void
  EnforceNodeFaceInteraction(
      ContactEntity& node,
      ContactEntity& face,
      int            numNodeFaces,
      const double   gap,
      const double   direction[3],
      const double   closest_pt[3]) const
  {
    if (gap < 0.0) { enforcement.EnforceContact(node, face, numNodeFaces, gap, direction, closest_pt); }
  }
 
 protected:
  KokkosPenaltyContactEnforcement enforcement;
 
#endif
};
 
}  // namespace nimble
 
#endif /* SRC_NIMBLE_CONTACT_INTERFACE_H_ */