Description

Physical system for an FSI-aware SPH fluid solver.

#include <ChFsiFluidSystemSPH.h>

Inheritance diagram for chrono::fsi::sph::ChFsiFluidSystemSPH:

Collaboration diagram for chrono::fsi::sph::ChFsiFluidSystemSPH:

Classes
struct	ElasticMaterialProperties
	Structure with elastic material properties. More...

struct	FluidProperties
	Structure with fluid properties. More...

struct	LinSolverParameters
	Structure with linear solver parameters (used only for implicit SPH). More...

struct	SPHParameters
	Structure with SPH method parameters. More...

struct	SplashsurfParameters
	Structure with surface reconstruction parameters. More...

Public Member Functions
void	ReadParametersFromFile (const std::string &json_file)
	Read Chrono::FSI parameters from the specified JSON file.

void	EnableCudaErrorCheck (bool val)
	Enable/disable CUDA error checks (default: enabled).

void	SetInitialSpacing (double spacing)
	Set initial spacing.

void	SetKernelMultiplier (double multiplier)
	Set multiplier for interaction length. More...

void	SetShiftingMethod (ShiftingMethod shifting_method)
	Set the shifting method.

void	SetContainerDim (const ChVector3d &box_dim)
	Set the fluid container dimension.

void	SetComputationalDomain (const ChAABB &computational_AABB, BoundaryConditions bc_type)
	Set computational domain and boundary conditions on its sides. More...

void	SetComputationalDomain (const ChAABB &computational_AABB)
	Set computational domain. More...

void	SetActiveDomain (const ChVector3d &box_dim)
	Set dimensions of the active domain AABB. More...

void	SetActiveDomainDelay (double duration)
	Disable use of the active domain for the given duration at the beginning of the simulation (default: 0). More...

void	SetNumBCELayers (int num_layers)
	Set number of BCE marker layers (default: 3).

void	SetDensity (double rho0)
	Set (initial) density.

void	SetShiftingPPSTParameters (double push, double pull)
	Set the PPST Shifting parameters push: coefficient for the pushing term in the PPST shifting method (upon penetration with fictitious sphere) pull: coefficient for the pulling term in the PPST shifting method.

void	SetShiftingXSPHParameters (double eps)
	Set the XSPH Shifting parameters eps: coefficient for the XSPH shifting method.

void	SetShiftingDiffusionParameters (double A, double AFSM, double AFST)
	Set the diffusion based shifting parameters A: coefficient for the diffusion based shifting method AFSM: coefficient for the AFSM in the diffusion based shifting method AFST: coefficient for the AFST in the diffusion based shifting method.

void	SetInitPressure (const double fzDim)
	Set prescribed initial pressure for gravity field.

virtual void	SetGravitationalAcceleration (const ChVector3d &gravity) override
	Set gravity for the FSI syatem.

void	SetBodyForce (const ChVector3d &force)
	Set a constant force applied to the fluid. More...

void	SetConsistentDerivativeDiscretization (bool consistent_gradient, bool consistent_Laplacian)
	Set SPH discretization type, consistent or inconsistent.

void	SetCohesionForce (double Fc)
	Set cohesion force of the granular material.

void	SetSPHLinearSolver (SolverType lin_solver)
	Set the linear system solver for implicit methods.

void	SetIntegrationScheme (IntegrationScheme scheme)
	Set the integration scheme (default: RK2). More...

void	SetNumProximitySearchSteps (int steps)
	Set the number of steps between successive updates to neighbor lists (default: 4).

void	SetCfdSPH (const FluidProperties &fluid_props)
	Enable solution of a CFD problem.

void	SetElasticSPH (const ElasticMaterialProperties &mat_props)
	Enable solution of elastic SPH (for continuum representation of granular dynamics). More...

void	CheckSPHParameters ()
	Checks the applicability of user set parameters for SPH and throws an exception if necessary.

void	SetSPHParameters (const SPHParameters &sph_params)
	Set SPH method parameters.

void	SetLinSolverParameters (const LinSolverParameters &linsolv_params)
	Set linear solver parameters (used only for implicit SPH).

void	SetOutputLevel (OutputLevel output_level)
	Set simulation data output level (default: STATE_PRESSURE). More...

void	SetBoundaryType (BoundaryMethod boundary_method)
	Set boundary treatment type (default: Adami).

void	SetViscosityType (ViscosityMethod viscosity_method)
	Set viscosity treatment type (default: artificial unilateral).

void	SetArtificialViscosityCoefficient (double coefficient)
	Set artificial viscosity coefficient (default: 0.02).

void	SetKernelType (KernelType kernel_type)
	Set kernel type.

double	GetKernelLength () const
	Return the SPH kernel length of kernel function.

double	GetInitialSpacing () const
	Return the initial spacing of the SPH particles.

int	GetNumBCELayers () const
	Return the number of BCE layers.

ChVector3d	GetContainerDim () const
	Get the fluid container dimensions.

ChAABB	GetComputationalDomain () const
	Get the computational domain.

double	GetDensity () const
	Return density.

double	GetViscosity () const
	Return viscosity.

double	GetParticleMass () const
	Return SPH particle mass.

double	GetBasePressure () const
	Return base pressure.

ChVector3d	GetGravitationalAcceleration () const
	Return gravitational acceleration.

double	GetSoundSpeed () const
	Return the speed of sound in the fluid phase.

ChVector3d	GetBodyForce () const
	Return the constant force applied to the fluid (if any). More...

int	GetNumProximitySearchSteps () const
	Get the number of steps between successive updates to neighbor lists.

const ChFsiParamsSPH &	GetParams () const
	Return the current system parameters (debugging only).

size_t	GetNumFluidMarkers () const
	Get the current number of fluid SPH particles.

size_t	GetNumBoundaryMarkers () const
	Get the current number of boundary BCE markers.

size_t	GetNumRigidBodyMarkers () const
	Get the current number of rigid body BCE markers.

size_t	GetNumFlexBodyMarkers () const
	Get the current number of flexible body BCE markers.

std::vector< ChVector3d >	GetParticlePositions () const
	Return the SPH particle positions.

std::vector< ChVector3d >	GetParticleVelocities () const
	Return the SPH particle velocities.

std::vector< ChVector3d >	GetParticleAccelerations () const
	Return the accelerations of SPH particles.

std::vector< ChVector3d >	GetParticleForces () const
	Return the forces acting on SPH particles.

std::vector< ChVector3d >	GetParticleFluidProperties () const
	Return the SPH particle fluid properties. More...

BoundaryMethod	GetBoundaryType () const
	Return the boundary treatment type.

ViscosityMethod	GetViscosityType () const
	Return the viscosity treatment type.

KernelType	GetKernelType () const
	Return the kernel type.

void	WriteParticleFile (const std::string &filename) const
	Write FSI system particle output.

void	SaveParticleData (const std::string &dir) const
	Save current SPH particle and BCE marker data to files. More...

void	SaveSolidData (const std::string &dir, double time) const
	Save current FSI solid data to files. More...

void	AddSPHParticle (const ChVector3d &pos, double rho, double pres, double mu, const ChVector3d &vel=ChVector3d(0), const ChVector3d &tauXxYyZz=ChVector3d(0), const ChVector3d &tauXyXzYz=ChVector3d(0))
	Add an SPH particle with given properties to the FSI system.

void	AddSPHParticle (const ChVector3d &pos, const ChVector3d &vel=ChVector3d(0), const ChVector3d &tauXxYyZz=ChVector3d(0), const ChVector3d &tauXyXzYz=ChVector3d(0))
	Add an SPH particle with current properties to the SPH system.

void	AddBoxSPH (const ChVector3d &boxCenter, const ChVector3d &boxHalfDim)
	Create SPH particles in the specified box volume. More...

void	AddBCEBoundary (const std::vector< ChVector3d > &points, const ChFramed &frame)
	Add boundary BCE markers at the specified points. More...

std::vector< int >	FindParticlesInBox (const ChFrame<> &frame, const ChVector3d &size)
	Utility function for finding indices of SPH particles inside a given OBB. More...

std::vector< Real3 >	GetPositions () const
	Extract positions of all markers (SPH and BCE).

std::vector< Real3 >	GetVelocities () const
	Extract velocities of all markers (SPH and BCE).

std::vector< Real3 >	GetAccelerations () const
	Extract accelerations of all markers (SPH and BCE).

std::vector< Real3 >	GetForces () const
	Extract forces applied to all markers (SPH and BCE).

std::vector< Real3 >	GetProperties () const
	Extract fluid properties of all markers (SPH and BCE). More...

std::vector< Real3 >	GetPositions (const std::vector< int > &indices) const
	Extract positions of all markers (SPH and BCE) with indices in the provided array.

std::vector< Real3 >	GetVelocities (const std::vector< int > &indices) const
	Extract velocities of all markers (SPH and BCE) with indices in the provided array.

std::vector< Real3 >	GetAccelerations (const std::vector< int > &indices) const
	Extract accelerations of all markers (SPH and BCE) with indices in the provided array.

std::vector< Real3 >	GetForces (const std::vector< int > &indices) const
	Extract forces applied to allmarkers (SPH and BCE) with indices in the provided array.

std::vector< ChVector3d >	CreatePointsPlate (const ChVector2d &size) const
	Create marker points on a rectangular plate of specified X-Y dimensions, assumed centered at the origin. More...

std::vector< ChVector3d >	CreatePointsBoxContainer (const ChVector3d &size, const ChVector3i &faces) const
	Create marker points for a box container of specified dimensions. More...

std::vector< ChVector3d >	CreatePointsBoxInterior (const ChVector3d &size) const
	Create interior marker points for a box of specified dimensions, assumed centered at the origin. More...

std::vector< ChVector3d >	CreatePointsBoxExterior (const ChVector3d &size) const
	Create exterior marker points for a box of specified dimensions, assumed centered at the origin. More...

std::vector< ChVector3d >	CreatePointsSphereInterior (double radius, bool polar) const
	Create interior marker points for a sphere of specified radius, assumed centered at the origin. More...

std::vector< ChVector3d >	CreatePointsSphereExterior (double radius, bool polar) const
	Create exterior marker pointss for a sphere of specified radius, assumed centered at the origin. More...

std::vector< ChVector3d >	CreatePointsCylinderInterior (double rad, double height, bool polar) const
	Create interior marker points for a cylinder of specified radius and height. More...

std::vector< ChVector3d >	CreatePointsCylinderExterior (double rad, double height, bool polar) const
	Create exterior marker points for a cylinder of specified radius and height. More...

std::vector< ChVector3d >	CreatePointsConeInterior (double rad, double height, bool polar) const
	Create interior marker points for a cone of specified radius and height. More...

std::vector< ChVector3d >	CreatePointsConeExterior (double rad, double height, bool polar) const
	Create exterior marker points for a cone of specified radius and height. More...

std::vector< ChVector3d >	CreatePointsCylinderAnnulus (double rad_inner, double rad_outer, double height, bool polar) const
	Create marker points filling a cylindrical annulus of specified radii and height. More...

std::vector< ChVector3d >	CreatePointsMesh (ChTriangleMeshConnected &mesh) const
	Create marker points filling a closed mesh. More...

PhysicsProblem	GetPhysicsProblem () const

std::string	GetPhysicsProblemString () const

std::string	GetSphIntegrationSchemeString () const

Public Member Functions inherited from chrono::fsi::ChFsiFluidSystem
void	SetVerbose (bool verbose)
	Enable/disable verbose terminal output (default: true).

void	SetStepSize (double step)
	Set integration step size.

virtual void	Initialize ()
	Initialize the fluid system with no FSI support.

void	DoStepDynamics (double step)
	Function to integrate the FSI fluid system in time.

double	GetSimTime () const
	Get current simulation time.

double	GetStepSize () const
	Get the integration step size.

double	GetRtf () const
	Get current estimated RTF (real time factor).

double	GetTimerStep () const
	Return the time in seconds for fluid dynamics over the last step.

Friends
class	ChFsiSystemSPH

class	ChFsiInterfaceSPH

class	ChFsiProblemSPH

class	ChFsiSplashsurfSPH

Additional Inherited Members
Protected Member Functions inherited from chrono::fsi::ChFsiFluidSystem
void	UseNodeDirections (bool val)

Protected Attributes inherited from chrono::fsi::ChFsiFluidSystem
bool	m_verbose
	enable/disable m_verbose terminal output

std::string	m_outdir
	output directory

bool	m_use_node_directions
	use FEA node directions

bool	m_is_initialized
	set to true once the Initialize function is called

double	m_step
	time step for fluid dynamics

unsigned int	m_frame
	current simulation frame

Member Function Documentation

◆ AddBCEBoundary()

void chrono::fsi::sph::ChFsiFluidSystemSPH::AddBCEBoundary	(	const std::vector< ChVector3d > &	points,
		const ChFramed &	frame
	)

Add boundary BCE markers at the specified points.

The points are assumed to be provided relative to the specified frame. These BCE markers are not associated with a particular FSI body and, as such, cannot be used to extract fluid forces and moments. If fluid reaction forces are needed, create an FSI body with the desirted geometry or list of BCE points and add it through the contianing FSI system.

◆ AddBoxSPH()

void chrono::fsi::sph::ChFsiFluidSystemSPH::AddBoxSPH	(	const ChVector3d &	boxCenter,
		const ChVector3d &	boxHalfDim
	)

Create SPH particles in the specified box volume.

The SPH particles are created on a uniform grid with resolution equal to the FSI initial separation.

◆ CreatePointsBoxContainer()

std::vector< ChVector3d > chrono::fsi::sph::ChFsiFluidSystemSPH::CreatePointsBoxContainer	(	const ChVector3d &	size,
		const ChVector3i &	faces
	)		const

Create marker points for a box container of specified dimensions.

The box volume is assumed to be centered at the origin. The 'faces' input vector specifies which faces of the container are to be created: for each direction, a value of -1 indicates the face in the negative direction, a value of +1 indicates the face in the positive direction, and a value of 2 indicates both faces. Setting a value of 0 does not create container faces in that direction. Markers are created in a number of layers corresponding to system parameters.

◆ CreatePointsBoxExterior()

std::vector< ChVector3d > chrono::fsi::sph::ChFsiFluidSystemSPH::CreatePointsBoxExterior ( const ChVector3d & size ) const

Create exterior marker points for a box of specified dimensions, assumed centered at the origin.

Markers are created outside the box, in a number of layers corresponding to system parameters.

◆ CreatePointsBoxInterior()

std::vector< ChVector3d > chrono::fsi::sph::ChFsiFluidSystemSPH::CreatePointsBoxInterior ( const ChVector3d & size ) const

Create interior marker points for a box of specified dimensions, assumed centered at the origin.

Markers are created inside the box, in a number of layers corresponding to system parameters.

◆ CreatePointsConeExterior()

std::vector< ChVector3d > chrono::fsi::sph::ChFsiFluidSystemSPH::CreatePointsConeExterior	(	double	rad,
		double	height,
		bool	polar
	)		const

Create exterior marker points for a cone of specified radius and height.

The cone is assumed centered at the origin and aligned with the Z axis. Markers are created outside the cone, in a number of layers corresponding to system parameters. Markers are created using cylinderical coordinates (polar=true), or else on a uniform Cartesian grid.

◆ CreatePointsConeInterior()

std::vector< ChVector3d > chrono::fsi::sph::ChFsiFluidSystemSPH::CreatePointsConeInterior	(	double	rad,
		double	height,
		bool	polar
	)		const

Create interior marker points for a cone of specified radius and height.

The cone is assumed centered at the origin and aligned with the Z axis. Markers are created inside the cone, in a number of layers corresponding to system parameters. Markers are created using cylinderical coordinates (polar=true), or else on a uniform Cartesian grid.

◆ CreatePointsCylinderAnnulus()

std::vector< ChVector3d > chrono::fsi::sph::ChFsiFluidSystemSPH::CreatePointsCylinderAnnulus	(	double	rad_inner,
		double	rad_outer,
		double	height,
		bool	polar
	)		const

Create marker points filling a cylindrical annulus of specified radii and height.

The cylinder annulus is assumed centered at the origin and aligned with the Z axis. Markers are created using cylindrical coordinates (polar=true), or else on a uniform Cartesian grid.

◆ CreatePointsCylinderExterior()

std::vector< ChVector3d > chrono::fsi::sph::ChFsiFluidSystemSPH::CreatePointsCylinderExterior	(	double	rad,
		double	height,
		bool	polar
	)		const

Create exterior marker points for a cylinder of specified radius and height.

The cylinder is assumed centered at the origin and aligned with the Z axis. Markers are created outside the cylinder, in a number of layers corresponding to system parameters. Markers are created using cylindrical coordinates (polar=true), or else on a uniform Cartesian grid.

◆ CreatePointsCylinderInterior()

std::vector< ChVector3d > chrono::fsi::sph::ChFsiFluidSystemSPH::CreatePointsCylinderInterior	(	double	rad,
		double	height,
		bool	polar
	)		const

Create interior marker points for a cylinder of specified radius and height.

The cylinder is assumed centered at the origin and aligned with the Z axis. Markers are created inside the cylinder, in a number of layers corresponding to system parameters. Markers are created using cylindrical coordinates (polar=true), or else on a uniform Cartesian grid.

◆ CreatePointsMesh()

std::vector< ChVector3d > chrono::fsi::sph::ChFsiFluidSystemSPH::CreatePointsMesh ( ChTriangleMeshConnected & mesh ) const

Create marker points filling a closed mesh.

Markers are created on a Cartesian grid with a separation corresponding to system parameters.

Calculate uu parameter and test bound

ray intersection

◆ CreatePointsPlate()

std::vector< ChVector3d > chrono::fsi::sph::ChFsiFluidSystemSPH::CreatePointsPlate ( const ChVector2d & size ) const

Create marker points on a rectangular plate of specified X-Y dimensions, assumed centered at the origin.

Markers are created in a number of layers (in the negative Z direction) corresponding to system parameters.

◆ CreatePointsSphereExterior()

std::vector< ChVector3d > chrono::fsi::sph::ChFsiFluidSystemSPH::CreatePointsSphereExterior	(	double	radius,
		bool	polar
	)		const

Create exterior marker pointss for a sphere of specified radius, assumed centered at the origin.

Markers are created outside the sphere, in a number of layers corresponding to system parameters. Markers are created using spherical coordinates (polar=true), or else on a uniform Cartesian grid.

◆ CreatePointsSphereInterior()

std::vector< ChVector3d > chrono::fsi::sph::ChFsiFluidSystemSPH::CreatePointsSphereInterior	(	double	radius,
		bool	polar
	)		const

Create interior marker points for a sphere of specified radius, assumed centered at the origin.

Markers are created inside the sphere, in a number of layers corresponding to system parameters. Markers are created using spherical coordinates (polar=true), or else on a uniform Cartesian grid.

◆ FindParticlesInBox()

std::vector< int > chrono::fsi::sph::ChFsiFluidSystemSPH::FindParticlesInBox	(	const ChFrame<> &	frame,
		const ChVector3d &	size
	)

Utility function for finding indices of SPH particles inside a given OBB.

The object-oriented box, of specified size, is assumed centered at the origin of the provided frame and aligned with the axes of that frame.

◆ GetBodyForce()

ChVector3d chrono::fsi::sph::ChFsiFluidSystemSPH::GetBodyForce ( ) const

Return the constant force applied to the fluid (if any).

TODO: RENAME

◆ GetParticleFluidProperties()

std::vector< ChVector3d > chrono::fsi::sph::ChFsiFluidSystemSPH::GetParticleFluidProperties ( ) const

Return the SPH particle fluid properties.

For each SPH particle, the 3-dimensional vector contains density, pressure, and viscosity.

◆ GetProperties()

std::vector< Real3 > chrono::fsi::sph::ChFsiFluidSystemSPH::GetProperties ( ) const

Extract fluid properties of all markers (SPH and BCE).

For each SPH particle, the 3-dimensional vector contains density, pressure, and viscosity.

◆ SaveParticleData()

void chrono::fsi::sph::ChFsiFluidSystemSPH::SaveParticleData ( const std::string & dir ) const

Save current SPH particle and BCE marker data to files.

This function creates three CSV files for SPH particles, boundary BCE markers, and solid BCE markers data.

◆ SaveSolidData()

void chrono::fsi::sph::ChFsiFluidSystemSPH::SaveSolidData	(	const std::string &	dir,
		double	time
	)		const

Save current FSI solid data to files.

This function creates CSV files for force and torque on rigid bodies and flexible nodes.

◆ SetActiveDomain()

void chrono::fsi::sph::ChFsiFluidSystemSPH::SetActiveDomain ( const ChVector3d & box_dim )

Set dimensions of the active domain AABB.

This value activates only those SPH particles that are within an AABB of the specified size from an object interacting with the "fluid" phase. Note that this setting should not be used for CFD simulations, but rather only when solving problems using the CRM (continuum representation of granular dynamics) for terramechanics simulations.

◆ SetActiveDomainDelay()

void chrono::fsi::sph::ChFsiFluidSystemSPH::SetActiveDomainDelay ( double duration )

Disable use of the active domain for the given duration at the beginning of the simulation (default: 0).

This parameter is used for settling operations where all particles must be active through the settling process.

◆ SetBodyForce()

void chrono::fsi::sph::ChFsiFluidSystemSPH::SetBodyForce ( const ChVector3d & force )

Set a constant force applied to the fluid.

Solid bodies are not explicitly affected by this force, but they are affected indirectly through the fluid.

◆ SetComputationalDomain() [1/2]

void chrono::fsi::sph::ChFsiFluidSystemSPH::SetComputationalDomain ( const ChAABB & computational_AABB )

Set computational domain.

Note that this version leaves the setting for BC type unchanged.

◆ SetComputationalDomain() [2/2]

void chrono::fsi::sph::ChFsiFluidSystemSPH::SetComputationalDomain	(	const ChAABB &	computational_AABB,
		BoundaryConditions	bc_type
	)

Set computational domain and boundary conditions on its sides.

bc_type indicates the types of BCs imposed in the three directions of the computational domain. By default, no special boundary conditions are imposed in any direction (BCType::NONE).

◆ SetElasticSPH()

void chrono::fsi::sph::ChFsiFluidSystemSPH::SetElasticSPH ( const ElasticMaterialProperties & mat_props )

Enable solution of elastic SPH (for continuum representation of granular dynamics).

By default, a ChSystemFSI solves an SPH fluid dynamics problem.

◆ SetIntegrationScheme()

void chrono::fsi::sph::ChFsiFluidSystemSPH::SetIntegrationScheme ( IntegrationScheme scheme )

Set the integration scheme (default: RK2).

All explicit integration schemes use a so-called Weakly-Compressible SPH formulation, based on an equation of state that relates pressure to density.

◆ SetKernelMultiplier()

void chrono::fsi::sph::ChFsiFluidSystemSPH::SetKernelMultiplier ( double multiplier )

Set multiplier for interaction length.

h = multiplier * initial_spacing.

◆ SetOutputLevel()

void chrono::fsi::sph::ChFsiFluidSystemSPH::SetOutputLevel ( OutputLevel output_level )

Set simulation data output level (default: STATE_PRESSURE).

Options:

STATE marker state, velocity, and acceleration
STATE_PRESSURE STATE plus density and pressure
CFD_FULL STATE_PRESSURE plus various CFD parameters
CRM_FULL STATE_PRESSURE plus normal and shear stress

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_fsi/sph/ChFsiFluidSystemSPH.h
/builds/uwsbel/chrono/src/chrono_fsi/sph/ChFsiFluidSystemSPH.cpp