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# Amira Abdel-Rahman
# (c) Massachusetts Institute of Technology 2020
struct material
E::Float64
mass::Float64
nu::Float64
rho::Float64
b::Float64
h::Float64
L::Float64
area::Float64
I::Float64
J::Float64
G::Float64
a1::Float64
a2::Float64
b1::Float64
b2::Float64
b3::Float64
massInverse::Float64
momentInertiaInverse::Float64
inertia::Float64
zeta::Float64
zetaCollision::Float64
muStatic::Float64
muKinetic::Float64
nomSize::Float64
sqA1::Float64
sqA2xIp::Float64
sqB1::Float64
sqB2xFMp::Float64
sqB3xIp::Float64
_2xSqMxExS::Float64
function material()
E=2000
mass=10
nu=0.35
rho=7.85e-9
b=2.38
h=2.38
L=75
area=b*h
I=b*h^3/12
J=b*h*(b*b+h*h)/12
G = E * 1 / 3
a1=E*b*h/L
a2=G*J/L
b1=12*E*I/(L^3)
b2=6*E*I/(L^2)
b3=2*E*I/(L)
massInverse=1.0/mass
momentInertiaInverse=1.92e-6
inertia=1/momentInertiaInverse
zeta=1.0
zetaCollision=0.0
muStatic= 2.0
muKinetic= 0.1
nomSize=1.0
sqA1=sqrt(a1)
sqA2xIp=sqrt(a2*L*L/6.0)
sqB1=sqrt(b1)
sqB2xFMp=sqrt(b2*L/2)
sqB3xIp=sqrt(b3*L*L/6.0)
_2xSqMxExS = (2.0*sqrt(mass*E*nomSize))
new(E,mass,nu,rho,b,h,L,area,I,J,G,a1,a2,b1,b2,b3,massInverse,momentInertiaInverse,inertia,zeta,zetaCollision,muStatic,muKinetic,nomSize,sqA1,sqA2xIp,sqB1,sqB2xFMp,sqB3xIp,_2xSqMxExS)
end
function material(E,mass,nu,rho,b,h,L,momentInertiaInverse,zeta,zetaCollision,muStatic,muKinetic,nomSize)
area=b*h
I=b*h^3/12
J=b*h*(b*b+h*h)/12
G = E * 1 / 3
a1=E*b*h/L
a2=G*J/L
b1=12*E*I/(L^3)
b2=6*E*I/(L^2)
b3=2*E*I/(L)
massInverse=1.0/mass
inertia=1/momentInertiaInverse
sqA1=sqrt(a1)
sqA2xIp=sqrt(a2*L*L/6.0)
sqB1=sqrt(b1)
sqB2xFMp=sqrt(b2*L/2)
sqB3xIp=sqrt(b3*L*L/6.0)
_2xSqMxExS = (2.0*sqrt(mass*E*nomSize))
new(E,mass,nu,rho,b,h,L,area,I,J,G,a1,a2,b1,b2,b3,massInverse,momentInertiaInverse,inertia,zeta,zetaCollision,muStatic,muKinetic,nomSize,sqA1,sqA2xIp,sqB1,sqB2xFMp,sqB3xIp,_2xSqMxExS)
end
end
struct voxelMaterial
E::Float64
mass::Float64
nu::Float64
rho::Float64
massInverse::Float64
momentInertiaInverse::Float64
inertia::Float64
zetaInternal::Float64
zetaGlobal::Float64
zetaCollision::Float64
muStatic::Float64
muKinetic::Float64
nomSize::Float64
_2xSqMxExS::Float64
eHat::Float64
cTE::Float64
linear::Bool
poisson::Bool
function voxelMaterial()
E=2000
mass=10
nu=0.35
rho=7.85e-9
massInverse=1.0/mass
nomSize=1.0
inertia= mass*nomSize*nomSize / 6.0
momentInertiaInverse=1.0/inertia
# momentInertiaInverse=1.92e-6
zetaInternal=1.0
zetaGlobal=0.2
zetaCollision=0.0
muStatic= 2.0
muKinetic= 0.1
_2xSqMxExS = (2.0*sqrt(mass*E*nomSize))
eHat=E/((1.0-2.0*nu)*(1.0+nu));
cTE=0.0
linear=true
poisson=false
new(E,mass,nu,rho,massInverse,momentInertiaInverse,inertia,zetaInternal,zetaGlobal,zetaCollision,muStatic,muKinetic,nomSize,_2xSqMxExS,eHat,cTE,linear,poisson)
end
function voxelMaterial(E,mass,nu,rho,zetaInternal,zetaGlobal,zetaCollision,muStatic,muKinetic,nomSize,linear,poisson,cTE)
massInverse=1.0/mass
inertia= mass*nomSize*nomSize / 6.0 #simple 1D approx
momentInertiaInverse= round(1.0/inertia;digits=8)
# momentInertiaInverse=1.92e-6
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_2xSqMxExS = (2.0*sqrt(mass*E*nomSize))
eHat=E/((1.0-2.0*nu)*(1.0+nu));
new(E,mass,nu,rho,massInverse,momentInertiaInverse,inertia,zetaInternal,zetaGlobal,zetaCollision,muStatic,muKinetic,nomSize,_2xSqMxExS,eHat,cTE,linear,poisson)
end
end
struct edgeMaterial
E::Float64
nu::Float64
rho::Float64
b::Float64
h::Float64
L::Float64
area::Float64
I::Float64
J::Float64
G::Float64
a1::Float64
a2::Float64
b1::Float64
b2::Float64
b3::Float64
sqA1::Float64
sqA2xIp::Float64
sqB1::Float64
sqB2xFMp::Float64
sqB3xIp::Float64
dampingM::Float64
loaded::Float64
strainRatio::Float64
eHat::Float64
cTE::Float64
linear::Bool
poisson::Bool
sigmaYield::Float64
sigmaFail::Float64
epsilonYield::Float64
epsilonFail::Float64
strainData::SVector{3, Float64}
stressData::SVector{3, Float64}
function edgeMaterial()
E=2000
mass=10.0
nu=0.35
rho=7.85e-9
b=2.38
h=2.38
L=75
area=b*h
I=b*h^3/12
J=b*h*(b*b+h*h)/12
G = E * 1 / 3
a1=E*b*h/L
a2=G*J/L
b1=12*E*I/(L^3)
b2=6*E*I/(L^2)
b3=2*E*I/(L)
sqA1=sqrt(a1)
sqA2xIp=sqrt(a2*L*L/6.0)
sqB1=sqrt(b1)
sqB2xFMp=sqrt(b2*L/2)
sqB3xIp=sqrt(b3*L*L/6.0)
zeta=1.0
dampingM=2.0*sqrt(mass)*zeta
loaded=0.0
strainRatio=1.0
eHat=E/((1.0-2.0*nu)*(1.0+nu));
linear=true
poisson=false
sigmaYield=-1.0
sigmaFail=-1.0
epsilonYield=-1.0
epsilonFail=10000*E
strainData=SVector(0.0, -1.0, -1.0)
stressData=SVector(0.0, -1.0, -1.0)
cTE=0.0
new(E,nu,rho,b,h,L,area,I,J,G,a1,a2,b1,b2,b3,sqA1,sqA2xIp,sqB1,sqB2xFMp,sqB3xIp,dampingM,loaded,strainRatio,eHat,cTE,linear,poisson,sigmaYield,sigmaFail,epsilonYield,epsilonFail,strainData,stressData)
end
function edgeMaterial(mat,E,strainData,stressData,sigmaYield ,sigmaFail,epsilonYield,epsilonFail)
linear=false
new(E,mat.nu,mat.rho,mat.b,mat.h,mat.L,mat.area,mat.I,mat.J,mat.G,mat.a1,mat.a2,mat.b1,mat.b2,mat.b3,mat.sqA1,mat.sqA2xIp,mat.sqB1,mat.sqB2xFMp,mat.sqB3xIp,mat.dampingM,mat.loaded,mat.strainRatio,mat.eHat,mat.cTE,
linear,mat.poisson,sigmaYield ,sigmaFail,epsilonYield,epsilonFail,strainData,stressData)
end
function edgeMaterial(E,mass,nu,rho,b,h,L,loaded,strainRatio,linear,poisson,cTE)
area=b*h
I=b*h^3/12
J=b*h*(b*b+h*h)/12
G = E / (2.0*(1.0+nu))
a1=E*b*h/L
a2=G*J/L
b1=12*E*I/(L^3)
b2=6*E*I/(L^2)
b3=2*E*I/(L)
sqA1=sqrt(a1)
sqA2xIp=sqrt(a2*L*L/6.0)
sqB1=sqrt(b1)
sqB2xFMp=sqrt(b2*L/2)
sqB3xIp=sqrt(b3*L*L/6.0)
zeta=1.0
dampingM=2.0*sqrt(mass)*zeta
eHat=E/((1.0-2.0*nu)*(1.0+nu))
sigmaYield=-1.0
sigmaFail=-1.0
epsilonYield=-1.0
strainData=SVector(0.0,-1.0, -1.0)
stressData=SVector(0.0,-1.0, -1.0)
new(E,nu,rho,b,h,L,area,I,J,G,a1,a2,b1,b2,b3,sqA1,sqA2xIp,sqB1,sqB2xFMp,sqB3xIp,dampingM,loaded,strainRatio,eHat,cTE,linear,poisson,sigmaYield,sigmaFail,epsilonYield,epsilonFail,strainData,stressData)
end
end
struct DOF
x::Bool
y::Bool
z::Bool
rx::Bool
ry::Bool
rz::Bool
function DOF()
x=false;
y=false;
z=false;
rx=true;
ry=true;
rz=true;
new(x,y,z,rx,ry,rz)
end
function DOF(x,y,z,rx,ry,rz)
new(x,y,z,rx,ry,rz)
end
end
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function setModelBilinear(mat, plasticModulus, yieldStress, failureStress=-1.0)
# if (youngsModulus<=0){
# error = "Young's modulus must be positive";
# return false;
# }
# if (plasticModulus<=0 || plasticModulus>=youngsModulus){
# error = "Plastic modulus must be positive but less than Young's modulus";
# return false;
# }
# if (yieldStress<=0){
# error = "Yield stress must be positive";
# return false;
# }
# if (failureStress != -1.0f && failureStress <= yieldStress){
# error = "Failure stress must be positive and greater than the yield stress";
# return false;
# }
youngsModulus=mat.E
yieldStrain = yieldStress / youngsModulus;
tmpfailureStress = failureStress; #create a dummy failure stress if none was provided
if (tmpfailureStress == -1)
tmpfailureStress = 3.0 * yieldStress;
end
tM = plasticModulus;
tB = yieldStress-tM*yieldStrain; #y-mx=b
tmpfailStrain = (tmpfailureStress-tB)/tM; # (y-b)/m = x
# println(yieldStrain)
# println(tmpfailStrain)
strainData=SVector(0.0, yieldStrain, tmpfailStrain);#add in the zero data point (required always)
stressData=SVector(0.0, yieldStress, tmpfailureStress);
# linear = false;
# E=youngsModulus;
sigmaYield = yieldStress;
sigmaFail = failureStress;
epsilonYield = yieldStrain;
epsilonFail = (failureStress == -1.0) ? -1.0 : tmpfailStrain
# println(epsilonYield)
# println(epsilonFail)
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# return updateDerived();
mat=edgeMaterial(mat,mat.E,strainData,stressData,sigmaYield ,sigmaFail,epsilonYield,epsilonFail)
return mat
end
function setYieldFromData(mat,strainData,stressData,percentStrainOffset,E,sigmaFail,epsilonFail)
sigmaYield = -1.0; #assume we fail until we succeed.
epsilonYield = -1.0; #assume we fail until we succeed.
oM = mat.E; #the offset line slope (y=Mx+B)
oB = (-percentStrainOffset/100.0*oM); #offset line intercept (100 factor turns percent into absolute
# assert(strainData.size() == stressData.size());
# assert(strainData.size() > 2); # more than 2 data points (more than bilinear)
dataPoints = length(strainData)-1;
for i = 2:dataPoints-1
x1=strainData[i];
x2=strainData[i+1];
y1=stressData[i];
y2=stressData[i+1];
tM = (y2-y1)/(x2-x1); #temporary slope
tB = y1-tM*x1; #temporary intercept
if (oM!=tM) #if not parallel lines...
xIntersect = (tB-oB)/(oM-tM);
if (xIntersect>x1 && xIntersect<x2) #if intersects at this segment...
percentBetweenPoints = (xIntersect-x1)/(x2-x1);
sigmaYield = y1+percentBetweenPoints*(y2-y1);
epsilonYield = xIntersect;
mat=edgeMaterial(mat,E,strainData,stressData,sigmaYield ,sigmaFail,epsilonYield,epsilonFail)
return true,mat;
end
end
end
sigmaYield = sigmaFail
epsilonYield = epsilonFail
mat=edgeMaterial(mat,E,strainData,stressData,sigmaYield ,sigmaFail,epsilonYield,epsilonFail)
return false,mat;
end
function setModel(mat,dataPointCount, strainData, stressData)
#Pre-checks
# if (pStrainValues==0 && pStressValues==0) #if first data point is 0,0, ignore it
# pStrainValues++; #advance the pointers...
# pStressValues++;
# dataPointCount-=1; #decrement the count
# end
# if (dataPointCount<=0)
# error = "Not enough data points";
# return false;
# end
# if (pStrainValues<=0 || pStressValues<=0)
# error = "First stress and strain data points negative or zero";
# return false;
# end
#Copy the data into something more usable (and check for monotonically increasing)
# tmpStrainData=[0]
# tmpStressData=[0]
# tmpStrainData.push_back(0); #add in the zero data point (required always)
# tmpStressData.push_back(0);
# sweepStrain = 0.0
# sweepStress = 0.0;
# for i = 1:dataPointCount
# thisStrain = *(pStrainValues+i); #grab the values
# thisStress = *(pStressValues+i);
# if (thisStrain <= sweepStrain)
# error = "Out of order strain data";
# return false;
# end
# if (thisStress <= sweepStress)
# error = "Stress data is not monotonically increasing";
# end
# if (i>0 && (thisStress-sweepStress)/(thisStrain-sweepStrain) > tmpStressData[0]/tmpStrainData[0])
# error = "Slope of stress/strain curve should never exceed that of the first line segment (youngs modulus)";
# return false;
# end
# sweepStrain = thisStrain;
# sweepStress = thisStress;
# tmpStrainData.push_back(thisStrain); #add to the temporary vector
# tmpStressData.push_back(thisStress);
# end
#at this point, we know we have valid data and will return true
# strainData = tmpStrainData;
# stressData = tmpStressData;
E=stressData[2]/strainData[2]; #youngs modulus is the inital slope
sigmaFail = stressData[dataPointCount]; #failure stress is the highest stress data point
epsilonFail = strainData[dataPointCount]; #failure strain is the highest strain data point
linear = (dataPointCount==1);
if (dataPointCount == 1 || dataPointCount == 2) #linear or bilinear
sigmaYield = stressData[2];
epsilonYield = strainData[2];
else #.2% (0.002) strain offset to find a good yield point...
percentStrainOffset=0.2;
linera,mat=setYieldFromData(mat,strainData,stressData,percentStrainOffset,E,sigmaFail,epsilonFail);
end
return mat
end