Mechanics2DDeformable.cpp

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/*--------------------------------*- VM2D -*-----------------*---------------*\
| ##  ## ##   ##  ####  #####   |                            | Version 1.14   |
| ##  ## ### ### ##  ## ##  ##  |  VM2D: Vortex Method       | 2026/03/06     |
| ##  ## ## # ##    ##  ##  ##  |  for 2D Flow Simulation    *----------------*
|  ####  ##   ##   ##   ##  ##  |  Open Source Code                           |
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| Copyright (C) 2017-2026 I. Marchevsky, K. Sokol, E. Ryatina, A. Kolganova   |
*-----------------------------------------------------------------------------*
| File name: Mechanics2DDeformable.cpp                                        |
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\*---------------------------------------------------------------------------*/
 
 
#include "Mechanics2DDeformable.h"
 
#include "Airfoil2D.h"
#include "Airfoil2DDeformable.h"
#include "Boundary2D.h"
#include "MeasureVP2D.h"
#include "StreamParser.h"
#include "Velocity2D.h"
#include "Wake2D.h"
#include "World2D.h"
#include "Gmres2D.h"
 
using namespace VM2D;
 
 
Beam::Beam(const World2D& W_, bool fsi_, double x0_, double L_, int R_) :
    W(W_),
    fsi(fsi_),
    //filament
    rho(10000.0),
    F(0.04),
    EJ(1.0 * 1.0),
 
    //Turek
    //rho(10000.0),
    //F(0.02),
    //EJ(1.1703239289446188),
 
    R(R_),
    x0(x0_),
    L(L_)
{
    qCoeff.resize(R);
    currentPhi.resize(R);
    currentDPhi.resize(R);
    presLastSteps.reserve(nLastSteps);
};
 
double Beam::phi(int n, double t) const
{
    return currentPhi[n];
}
 
void Beam::solveDU(int n, double dt)
{
    double cm = rho * F;
    double ck = EJ * sqr(sqr(unitLambda[n] / L));
    double cq = qCoeff[n];
 
    double omega = sqrt(ck / cm);
    double cDamp = 0.0;
 
    double phiAst = currentPhi[n] + 0.5 * dt * currentDPhi[n];
    double psiAst = currentDPhi[n] + 0.5 * dt * (-ck * currentPhi[n] - cDamp * omega * currentDPhi[n] - cq) / cm;
 
    currentPhi[n] += dt * psiAst;
    currentDPhi[n] += dt * (-ck * phiAst - cDamp * omega * psiAst - cq) / cm;
 
    std::cout << "n = " << n << std::endl;
    std::cout << "ck / cm = " << ck / cm << std::endl;
    std::cout << "cq / cm = " << cq / cm << std::endl;
    //std::cout << "lam = " << unitLambda[n] / L << std::endl;
}
 
void Beam::solveDU_RK(int n, double dt) {
    double cm = rho * F;
    double ck = EJ * sqr(sqr(unitLambda[n] / L));
    double cq = qCoeff[n];
 
    double omega = sqrt(ck / cm);
    double cDamp = 0.0;
 
    auto acceleration = [&](double phi, double dphi) {
        return (-ck * phi - cDamp * omega * dphi - cq) / cm;
        };
 
    double phi = currentPhi[n];
    double dphi = currentDPhi[n];
 
    double k1_phi = dphi;
    double k1_dphi = acceleration(phi, dphi);
 
    double k2_phi = dphi + 0.5 * dt * k1_dphi;
    double k2_dphi = acceleration(phi + 0.5 * dt * k1_phi, dphi + 0.5 * dt * k1_dphi);
 
    double k3_phi = dphi + 0.5 * dt * k2_dphi;
    double k3_dphi = acceleration(phi + 0.5 * dt * k2_phi, dphi + 0.5 * dt * k2_dphi);
 
    double k4_phi = dphi + dt * k3_dphi;
    double k4_dphi = acceleration(phi + dt * k3_phi, dphi + dt * k3_dphi);
 
    currentPhi[n] = phi + (dt / 6.0) * (k1_phi + 2 * k2_phi + 2 * k3_phi + k4_phi);
    currentDPhi[n] = dphi + (dt / 6.0) * (k1_dphi + 2 * k2_dphi + 2 * k3_dphi + k4_dphi);
    
    std::cout << "phi = " << currentPhi[n] << std::endl;
}
 
 
double Beam::getTotalDisp(double x, double t) const
{
    double result = 0.0;
    for (int i = 0; i < R; ++i)
        result += phi(i, t) * shape(i, x);
    return result;
}
 
 
//deformParam = {f, alpha, lambda, c1, c2};
 
double Beam::getGivenLaw(double x, double t, const std::vector<double>& deformParam) const //имитатор деформации упругой линии 
{
    const double c1 = deformParam[3];
    const double c2 = deformParam[4];
    double alpha;
    
    if (fsi) //Turek
        alpha = 0.0; //Turek
    else
        alpha = deformParam[1]; //Fish
    
 
    const double lambda = deformParam[2];
    const double length = 1.0;
    const double f = deformParam[0];
    if (!fsi && (f == 0))
        alpha = 0.0;
 
    auto A = [c1, c2](double xi) {return 1.0 + (xi - 1.0) * c1 + (xi * xi - 1.0) * c2;};
 
    //double result = alpha * A(x + 0.5) * sin(DPI * ((x + 0.5) / (length * lambda) - f * t));
    double result = W.getPassport().physicalProperties.accelCft(t) * alpha * A(x + 0.5) * sin(DPI * ((x + 0.5) / (length * lambda) - f * t));
 
    return result;
}
 
 
 
 
MechanicsDeformable::MechanicsDeformable(const World2D& W_, size_t numberInPassport_)
    :
    Mechanics(W_, numberInPassport_, true, true)
{
    const auto& airfoil = W_.getAirfoil(numberInPassport_);
 
    Vcm0 = { 0.0, 0.0 };
    Rcm0 = { airfoil.rcm[0], airfoil.rcm[1] };
    Vcm = Vcm0;
    Rcm = Rcm0;
    VcmOld = Vcm0;
    RcmOld = Rcm;
 
        
    MechanicsDeformable::ReadSpecificParametersFromDictionary();
 
    Point2D zero = { 0.0, 0.0 };
 
    Initialize(zero, airfoil.rcm + zero, 0.0, airfoil.phiAfl + 0.0);
 
    if (airfoil.phiAfl != 0)
    {
        W.getInfo('e') << "Airfoil rotation for Turek problem is not allowed" << std::endl;
        exit(2345);
    }
 
    if (fsi)
    {
        //Turek
        //Выделение упругой хорды
        indexOfUpperRightAngle = 0;
        double x0 = airfoil.getR(indexOfUpperRightAngle)[0];
        double x1 = x0;
        while (fabs(x1 - x0) < 1e-12)
        {
            ++indexOfUpperRightAngle;
            x0 = x1;
            x1 = airfoil.getR(indexOfUpperRightAngle)[0];
        }
        --indexOfUpperRightAngle;
 
        upperShifts.resize(indexOfUpperRightAngle - 1);
        for (size_t i = 0; i < upperShifts.size(); ++i)
            upperShifts[i] = airfoil.getR(i + 1)[1] - airfoil.getR(0)[1];
 
 
        indexOfUpperLeftAngle = indexOfUpperRightAngle;
        double y0 = airfoil.getR(indexOfUpperLeftAngle)[1];
        double y1 = y0;
        while (fabs(y1 - y0) < 1e-12)
        {
            ++indexOfUpperLeftAngle;
            y0 = y1;
            y1 = airfoil.getR(indexOfUpperLeftAngle)[1];
        }
        --indexOfUpperLeftAngle;
 
 
        indexOfLowerRightAngle = airfoil.getNumberOfPanels() + 1;
        x0 = airfoil.getR(indexOfLowerRightAngle)[0];
        x1 = x0;
        while (fabs(x1 - x0) < 1e-12)
        {
            --indexOfLowerRightAngle;
            x0 = x1;
            x1 = airfoil.getR(indexOfLowerRightAngle)[0];
        }
        ++indexOfLowerRightAngle;
 
 
        lowerShifts.resize(airfoil.getNumberOfPanels() - indexOfLowerRightAngle - 1);
        for (size_t i = 0; i < lowerShifts.size(); ++i)
            lowerShifts[i] = airfoil.getR(airfoil.getNumberOfPanels() - 1 - i)[1] - airfoil.getR(0)[1];
 
        indexOfLowerLeftAngle = indexOfLowerRightAngle;
        y0 = airfoil.getR(indexOfLowerLeftAngle)[1];
        y1 = y0;
        while (fabs(y1 - y0) < 1e-12)
        {
            --indexOfLowerLeftAngle;
            y0 = y1;
            y1 = airfoil.getR(indexOfLowerLeftAngle)[1];
        }
        ++indexOfLowerLeftAngle;
 
        //W.getInfo('i') << "UR: " << airfoil.getR(indexOfUpperRightAngle) << std::endl;
        //W.getInfo('i') << "UL: " << airfoil.getR(indexOfUpperLeftAngle) << std::endl;
        //W.getInfo('i') << "LR: " << airfoil.getR(indexOfLowerRightAngle) << std::endl;
        //W.getInfo('i') << "LL: " << airfoil.getR(indexOfLowerLeftAngle) << std::endl;
 
        if (indexOfUpperLeftAngle - indexOfUpperRightAngle != indexOfLowerRightAngle - indexOfLowerLeftAngle)
        {
            W.getInfo('e') << "indexOfUpperLeftAngle - indexOfUpperRightAngle != indexOfLowerRightAngle - indexOfLowerLeftAngle" << std::endl;
            exit(2346);
        }
 
        chord.resize(indexOfUpperLeftAngle - indexOfUpperRightAngle);
 
        for (size_t i = 0; i < indexOfUpperLeftAngle - indexOfUpperRightAngle; ++i)
        {
            size_t idxUp = indexOfUpperLeftAngle - 1 - i;
            size_t idxDn = indexOfLowerLeftAngle + i;
            Point2D rUpLeft = airfoil.getR(idxUp + 1);
            Point2D rUpRight = airfoil.getR(idxUp);
            Point2D rDnLeft = airfoil.getR(idxDn);
            Point2D rDnRight = airfoil.getR(idxDn + 1);
 
            if (std::max(fabs(rUpLeft[0] - rDnLeft[0]), fabs(rUpRight[0] - rDnRight[0])) > \
                0.01 * std::min((rUpRight[0] - rUpLeft[0]), (rDnRight[0] - rDnLeft[0]))) 
            {
                W.getInfo('e') << "x_up != x_dn" << std::endl;
                exit(2347);
            }
 
            chord[i].beg = 0.5 * (rUpLeft + rDnLeft);
            chord[i].end = 0.5 * (rUpRight + rDnRight);
            chord[i].infPanels = { idxUp, idxDn };
            chord[i].rightSemiWidth = 0.5 * (rUpRight - rDnRight)[1];
        }
        initialChord = chord;
        beam = std::make_unique<Beam>(W, fsi, chord[0].beg[0], initialChord.back().end[0] - initialChord[0].beg[0], 3); //Beam
    }
    else //Fish
    {
        int np = (int)airfoil.getNumberOfPanels();
        chord.resize(np / 2);
 
        chord[0].beg = airfoil.getR(np / 2);
        chord[np / 2 - 1].end = airfoil.getR(0);
        chord[np / 2 - 1].rightSemiWidth = 0.0;
 
        for (size_t i = 0; i < np / 2; ++i)
        {
            if (i != 0)
                chord[i].beg = 0.5 * (airfoil.getR(np / 2 - i) + airfoil.getR(np / 2 + i));
 
            if (i != np / 2 - 1)
                chord[i].end = 0.5 * (airfoil.getR(np / 2 - i - 1) + airfoil.getR(np / 2 + i + 1));
 
            chord[i].infPanels = { np / 2 - i, np / 2 + i + 1 };
 
            if (i != np / 2 - 1)
                chord[i].rightSemiWidth = (airfoil.getR(np / 2 - i - 1) - airfoil.getR(np / 2 + i + 1)).length() * 0.5;
        }
        initialChord = chord;
        beam = std::make_unique<Beam>(W, fsi, chord[0].beg[0], initialChord.back().end[0] - initialChord[0].beg[0], 3); //Beam
    }
    
    //std::ofstream of("chord.txt");        
    //for (size_t i = 0; i < chord.size(); ++i)
    //  of << chord[i].beg[0] << " " << chord[i].beg[1] << " " << chord[i].end[0] << " " << chord[i].end[1] << " " << chord[i].infPanels.first << " " << chord[i].infPanels.second << std::endl;
    //of.close();   
 
    
 
    initialPossibleWays = airfoil.possibleWays;
};
 
//Вычисление гидродинамической силы, действующей на профиль
void MechanicsDeformable::GetHydroDynamForce()
{
    W.getTimers().start("Force");   
 
    const double& dt = W.getPassport().timeDiscretizationProperties.dt;
 
    hydroDynamForce = { 0.0, 0.0 };
    hydroDynamMoment = 0.0;
 
    viscousForce = { 0.0, 0.0 };
    viscousMoment = 0.0;
 
    Point2D hDFGam = { 0.0, 0.0 };      //гидродинамические силы, обусловленные присоед.завихренностью
    Point2D hDFdelta = { 0.0, 0.0 };    //гидродинамические силы, обусловленные приростом завихренности
    Point2D hDFQ = { 0.0, 0.0 };        //гидродинамические силы, обусловленные присоед.источниками
 
    double hDMGam = 0.0;                //гидродинамический момент, обусловленный присоед.завихренностью
    double hDMdelta = 0.0;              //гидродинамический момент, обусловленный приростом завихренности
    double hDMQ = 0.0;                  //гидродинамический момент, обусловленный присоед.источниками
    for (size_t i = 0; i < afl.getNumberOfPanels(); ++i)
    {
        Point2D rK = 0.5 * (afl.getR(i + 1) + afl.getR(i)) - afl.rcm;
 
        Point2D velK = 0.5 * (afl.getV(i) + afl.getV(i + 1));
        double gAtt = (velK & afl.tau[i]);
 
        double gAttOld = 0.0;
        if (W.getCurrentStep() > 0)
        {
            auto oldAfl = W.getOldAirfoil(numberInPassport);
            gAttOld = ((0.5 * (oldAfl.getV(i) + oldAfl.getV(i + 1))) & oldAfl.tau[i]);
        }
 
        double deltaGAtt = gAtt - gAttOld;
 
        double qAtt = (velK & afl.nrm[i]);
 
        double deltaK = boundary.sheets.freeVortexSheet(i, 0) * afl.len[i] - afl.gammaThrough[i] + deltaGAtt * afl.len[i];
 
        /*1*/
        hDFdelta += deltaK * Point2D({ -rK[1], rK[0] });
        hDMdelta += 0.5 * deltaK * rK.length2();
 
        /*2*/
        hDFGam += 0.5 * velK.kcross() * gAtt * afl.len[i];
        hDMGam += 0.5 * (rK ^ velK.kcross()) * gAtt * afl.len[i];
 
        /*3*/
        hDFQ -= 0.5 * velK * qAtt * afl.len[i];
        hDMQ -= 0.5 * (rK ^ velK) * qAtt * afl.len[i];
    }
 
    const double rho = W.getPassport().physicalProperties.rho;
 
    hydroDynamForce = rho * (hDFGam + hDFdelta * (1.0 / dt) + hDFQ);
    hydroDynamMoment = rho * (hDMGam + hDMdelta / dt + hDMQ);
 
    if ((W.getPassport().physicalProperties.nu > 0.0)/* && (W.currentStep > 0)*/)
        for (size_t i = 0; i < afl.getNumberOfPanels(); ++i)
        {
            Point2D rK = 0.5 * (afl.getR(i + 1) + afl.getR(i)) - afl.rcm;
            viscousForce += rho * afl.viscousStress[i] * afl.tau[i];
            viscousMoment += rho * (afl.viscousStress[i] * afl.tau[i]) & rK;
        }
 
    W.getTimers().stop("Force");
}// GetHydroDynamForce()
 
// Вычисление скорости центра масс
Point2D MechanicsDeformable::VeloOfAirfoilRcm(double currTime)
{
    return Vcm;
}//VeloOfAirfoilRcm(...)
 
// Вычисление положения центра масс
Point2D MechanicsDeformable::PositionOfAirfoilRcm(double currTime)
{
    return Rcm;
}//PositionOfAirfoilRcm(...)
 
double MechanicsDeformable::AngularVelocityOfAirfoil(double currTime)
{
    return Wcm;
}//AngularVelocityOfAirfoil(...)
 
double MechanicsDeformable::AngleOfAirfoil(double currTime)
{
    if (afl.phiAfl != Phi)
    {
        std::cout << "afl.phiAfl != Phi" << std::endl;
        exit(100600);
    }
 
    return afl.phiAfl;
}//AngleOfAirfoil(...)
 
// Вычисление скоростей начал панелей
void MechanicsDeformable::VeloOfAirfoilPanels(double currTime)
{
    std::vector<Point2D> veloW(afl.getNumberOfPanels(), {0.0, 0.0});
 
    //if (W.getCurrentStep() == 0)
    //  for (size_t i = 0; i < afl.getNumberOfPanels(); ++i)
    //      veloW[i] = { 0.0, 0.0 };//afl.getR(i).kcross();
 
    if (W.getCurrentStep() > 0)
        for (size_t i = 0; i < afl.getNumberOfPanels(); ++i)
            veloW[i] = (1.0 / W.getPassport().timeDiscretizationProperties.dt) * (afl.getR(i) - W.getOldAirfoil(0).getR(i));
 
    afl.setV(veloW);
 
 
    //Циркуляция
    circulationOld = circulation;
    circulation = 0.0;
    for (size_t i = 0; i < afl.getNumberOfPanels(); ++i)
        circulation += 0.5 * afl.len[i] * ((afl.getV(i) + afl.getV(i + 1)) & afl.tau[i]);
 
}//VeloOfAirfoilPanels(...)
 
 
void MechanicsDeformable::Move()
{
    double x0 = chord[0].beg[0];
    double t = W.getCurrentTime();
 
 
    if (fsi) //turek
    {
        for (int i = 0; i < beam->R; ++i)
            beam->solveDU(i, W.getPassport().timeDiscretizationProperties.dt);
 
        for (size_t i = 0; i < chord.size(); ++i)
        {
            chord[i].beg[1] = beam->getTotalDisp(chord[i].beg[0], t);
            chord[i].end[1] = beam->getTotalDisp(chord[i].end[0], t);
        }
 
        std::vector<Point2D> upperPoints(chord.size() + upperShifts.size());
        std::vector<Point2D> lowerPoints(chord.size() + lowerShifts.size());
 
        for (size_t i = 0; i < chord.size() - 1; ++i)
        {
            const Point2D& begIp1 = chord[i + 1].beg;
            const Point2D& endI = chord[i].end;
            Point2D normI = (endI - chord[i].beg).unit().kcross();
            Point2D normIp1 = (chord[i + 1].end - begIp1).unit().kcross();
            upperPoints[i] = endI + 0.5 * chord[i].rightSemiWidth * (normI + normIp1);
            lowerPoints[i] = endI - 0.5 * chord[i].rightSemiWidth * (normI + normIp1);
        }
        Point2D normBack = (chord.back().end - chord.back().beg).unit().kcross();
        upperPoints[chord.size() - 1] = chord.back().end + chord.back().rightSemiWidth * normBack;
        lowerPoints[chord.size() - 1] = chord.back().end - chord.back().rightSemiWidth * normBack;
 
        for (size_t i = 0; i < upperShifts.size(); ++i)
            upperPoints[chord.size() + i] = chord.back().end + upperShifts[upperShifts.size() - 1 - i] * normBack;
        for (size_t i = 0; i < lowerShifts.size(); ++i)
            lowerPoints[chord.size() + i] = chord.back().end + lowerShifts[lowerShifts.size() - 1 - i] * normBack;
 
        afl.setR(0) = { chord.back().end[0], beam->getTotalDisp(chord.back().end[0], t) };
        for (size_t i = 0; i < upperPoints.size(); ++i)
            afl.setR(indexOfUpperLeftAngle - 1 - i) = upperPoints[i];
        for (size_t i = 0; i < lowerPoints.size(); ++i)
            afl.setR(indexOfLowerLeftAngle + 1 + i) = lowerPoints[i];
 
        /*
        std::ofstream file;
        file.open(W.getPassport().dir + "file" + std::to_string(W.getCurrentStep()) + ".txt");
        for (size_t c = 0; c < chord.size(); ++c)
            file << std::endl;
        file.close();
        //*/
    }
    else //Fish
    {
        for (size_t i = 0; i < chord.size(); ++i)
        {
            chord[i].beg[1] = beam->getGivenLaw(chord[i].beg[0], t, deformParam);
            chord[i].end[1] = beam->getGivenLaw(chord[i].end[0], t, deformParam);
        }
 
        std::vector<Point2D> upperPoints(chord.size());
        std::vector<Point2D> lowerPoints(chord.size());
 
        for (size_t i = 0; i < chord.size() - 1; ++i)
        {
            const Point2D& begIp1 = chord[i + 1].beg;
            const Point2D& endI = chord[i].end;
            Point2D normI = (endI - chord[i].beg).unit().kcross();
            Point2D normIp1 = (chord[i + 1].end - begIp1).unit().kcross();
            upperPoints[i] = endI + 0.5 * chord[i].rightSemiWidth * (normI + normIp1);
            lowerPoints[i] = endI - 0.5 * chord[i].rightSemiWidth * (normI + normIp1);
        }
 
        Point2D normFront = (chord[0].end - chord[0].beg).unit().kcross();
        Point2D normBack = (chord.back().end - chord.back().beg).unit().kcross();
 
        int nph = (int)chord.size();
 
        afl.setR(0) = chord.back().end;
        afl.setR(nph) = chord[0].beg;
        for (size_t i = 0; i < nph - 1; ++i)
        {
            afl.setR(nph - 1 - i) = upperPoints[i];
            afl.setR(nph + 1 + i) = lowerPoints[i];
        }
    }
    
 
    afl.CalcNrmTauLen();
    afl.GetGabarits();
 
    afl.possibleWays.clear();
    afl.possibleWays.resize(initialPossibleWays.size());
 
    for (size_t w = 0; w < initialPossibleWays.size(); ++w)
    {
        std::vector<Point2D> initialWay = initialPossibleWays[w];
        afl.possibleWays[w].resize(initialWay.size());
        for (size_t p = 0; p < initialWay.size(); ++p)
        {
            double x = initialWay[p][0];
            double y;
 
            if (fsi) //turek
                y = beam->getTotalDisp(x, t); 
            else //fish
                y = beam->getGivenLaw(x, t, deformParam); 
            
            afl.possibleWays[w][p] = Point2D{ x,y };
        }   
    }
 
    afl.lightningTest();
}//Move()
 
 
 
 
#if defined(INITIAL) || defined(BRIDGE) 
void MechanicsDeformable::ReadSpecificParametersFromDictionary()
{
    mechParamsParser->get("deformParam", deformParam);
    W.getInfo('i') << "mechDeformable: " << "deformParam = {";
    for (auto val : deformParam)
        W.getInfo('i') << " " << val;
    W.getInfo('i') << " }" << std::endl;
 
    mechParamsParser->get("fsi", fsi);
    W.getInfo('i') << "mechDeformable: " << "fsi = " << fsi << std::endl;
}//ReadSpecificParametersFromDictionary()
#endif