508 lines
24 KiB
C#
508 lines
24 KiB
C#
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using CaeGlobals;
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using CaeMesh.ContactSearchNamespace;
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namespace CaeMesh
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{
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public class ContactSearch
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{
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// Variables
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private FeMesh _mesh;
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private FeMesh _geometry;
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private double[][] _nodes;
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private BoundingBox[][] _cellBoundingBoxes;
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private BoundingBox[][] _cellEdgeBoundingBoxes;
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private int[][] _edgeCellBaseCellIds;
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private bool _includeSelfContact;
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private GroupContactPairsByEnum _groupContactPairsBy;
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// Properties
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public GroupContactPairsByEnum GroupContactPairsBy
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{
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get { return _groupContactPairsBy; }
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set { _groupContactPairsBy = value; }
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}
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// Constructors
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public ContactSearch(FeMesh mesh, FeMesh geometry)
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{
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_mesh = mesh;
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_geometry = geometry;
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//
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if (_mesh != null && _mesh.Nodes != null)
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{
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_nodes = new double[_mesh.MaxNodeId + 1][];
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foreach (var nodeEntry in _mesh.Nodes) _nodes[nodeEntry.Key] = nodeEntry.Value.Coor;
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}
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//
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_includeSelfContact = false;
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_groupContactPairsBy = GroupContactPairsByEnum.None;
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// Get all edge cell base cell ids
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GetAllEdgeCellBaseCellIds();
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}
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// Methods
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public List<MasterSlaveItem> FindContactPairs(double distance, double angleDeg, GeometryFilterEnum filter,
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bool tryToResolve)
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{
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if (_mesh == null) return null;
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// Bounding boxes for each cell
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ComputeCellBoundingBoxes(distance, filter.HasFlag(GeometryFilterEnum.IgnoreHidden));
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// Find all surfaces of the assembly
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ContactSurface[] contactSurfaces = GetAllContactSurfaces(distance, filter);
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// Find all surface pairs in contact
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double angleRad = angleDeg * Math.PI / 180;
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List<ContactSurface[]> contactSurfacePairs = new List<ContactSurface[]>();
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//
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for (int i = 0; i < contactSurfaces.Length; i++)
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{
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for (int j = i + 1; j < contactSurfaces.Length; j++)
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{
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if (CheckSurfaceToSurfaceDistance(contactSurfaces[i], contactSurfaces[j], distance, angleRad))
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{
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contactSurfacePairs.Add(new ContactSurface[] { contactSurfaces[i], contactSurfaces[j] });
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}
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}
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}
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// Group surface pairs
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if (_groupContactPairsBy == GroupContactPairsByEnum.None)
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return GroupContactPairsByNone(contactSurfacePairs, tryToResolve);
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else if (_groupContactPairsBy == GroupContactPairsByEnum.BySurfaceAngle)
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throw new NotSupportedException();
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else if (_groupContactPairsBy == GroupContactPairsByEnum.ByParts)
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return GroupContactPairsByParts(contactSurfacePairs, tryToResolve);
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else throw new NotSupportedException();
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}
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private void ComputeCellBoundingBoxes(double distance, bool ignoreHidden)
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{
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// Bounding boxes for each cell
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int[] cell;
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BoundingBox bb;
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_cellBoundingBoxes = new BoundingBox[_mesh.GetMaxPartId() + 1][];
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_cellEdgeBoundingBoxes = new BoundingBox[_mesh.GetMaxPartId() + 1][];
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//
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foreach (var partEntry in _mesh.Parts)
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{
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if (ignoreHidden && !partEntry.Value.Visible) continue;
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//
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_cellBoundingBoxes[partEntry.Value.PartId] = new BoundingBox[partEntry.Value.Visualization.Cells.Length];
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for (int i = 0; i < partEntry.Value.Visualization.Cells.Length; i++)
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{
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cell = partEntry.Value.Visualization.Cells[i];
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bb = new BoundingBox();
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bb.IncludeFirstCoor(_nodes[cell[0]]);
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bb.IncludeCoorFast(_nodes[cell[1]]);
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bb.IncludeCoorFast(_nodes[cell[2]]);
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if (cell.Length == 4 || cell.Length == 8) bb.IncludeCoorFast(_nodes[cell[3]]);
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bb.Inflate(distance * 0.5);
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//
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_cellBoundingBoxes[partEntry.Value.PartId][i] = bb;
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}
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// Shell edge faces
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if (partEntry.Value.PartType == PartType.Shell)
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{
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_cellEdgeBoundingBoxes[partEntry.Value.PartId]
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= new BoundingBox[partEntry.Value.Visualization.EdgeCells.Length];
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for (int i = 0; i < partEntry.Value.Visualization.EdgeCells.Length; i++)
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{
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cell = partEntry.Value.Visualization.EdgeCells[i];
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bb = new BoundingBox();
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bb.IncludeFirstCoor(_nodes[cell[0]]);
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bb.IncludeCoorFast(_nodes[cell[1]]);
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if (cell.Length == 3) bb.IncludeCoorFast(_nodes[cell[2]]);
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bb.Inflate(distance * 0.5);
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//
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_cellEdgeBoundingBoxes[partEntry.Value.PartId][i] = bb;
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}
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}
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}
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}
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private void GetAllEdgeCellBaseCellIds()
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{
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_edgeCellBaseCellIds = new int[_mesh.GetMaxPartId() + 1][];
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foreach (var partEntry in _mesh.Parts)
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{
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_edgeCellBaseCellIds[partEntry.Value.PartId] = partEntry.Value.Visualization.GetAllEdgeCellBaseCellIds();
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}
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}
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private ContactSurface[] GetAllContactSurfaces(double distance, GeometryFilterEnum filter)
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{
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HashSet<int> freeEdgeIds;
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ContactSurface contactSurface;
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List<ContactSurface> contactSurfacesList = new List<ContactSurface>();
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//
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foreach (var partEntry in _mesh.Parts)
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{
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if (filter.HasFlag(GeometryFilterEnum.IgnoreHidden) && !partEntry.Value.Visible) continue;
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//
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if (filter.HasFlag(GeometryFilterEnum.Solid) && partEntry.Value.PartType == PartType.Solid)
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{
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// Solid faces
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for (int i = 0; i < partEntry.Value.Visualization.FaceCount; i++)
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{
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contactSurfacesList.Add(new ContactSurface(_mesh, _nodes, partEntry.Value, i,
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GeometryType.SolidSurface, distance * 0.5));
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}
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}
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else if (partEntry.Value.PartType == PartType.Shell)
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{
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// Shell faces
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if (filter.HasFlag(GeometryFilterEnum.Shell))
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{
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for (int i = 0; i < partEntry.Value.Visualization.FaceCount; i++)
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{
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// Front face
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contactSurface = new ContactSurface(_mesh, _nodes, partEntry.Value, i,
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GeometryType.ShellFrontSurface, distance * 0.5);
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contactSurfacesList.Add(contactSurface);
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// Back face
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contactSurface = new ContactSurface(contactSurface); // copy
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contactSurface.ConvertToShellBackSurface();
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contactSurfacesList.Add(contactSurface);
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}
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}
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// Shell edge faces
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if (filter.HasFlag(GeometryFilterEnum.ShellEdge))
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{
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freeEdgeIds = partEntry.Value.Visualization.GetFreeEdgeIds();
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for (int i = 0; i < partEntry.Value.Visualization.EdgeCount; i++)
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{
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contactSurface = new ContactSurface(_mesh, _nodes, partEntry.Value, i,
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GeometryType.ShellEdgeSurface, distance * 0.5);
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// Fnd internal edges on shells
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if (!freeEdgeIds.Contains(i)) contactSurface.Internal = true;
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contactSurfacesList.Add(contactSurface);
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}
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}
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}
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}
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//
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ContactSurface[] contactSurfaces = contactSurfacesList.ToArray();
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// Find internal surfaces on compound parts
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for (int i = 0; i < contactSurfaces.Length; i++)
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{
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for (int j = i + 1; j < contactSurfaces.Length; j++)
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{
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if (contactSurfaces[i].GeometryType == contactSurfaces[j].GeometryType && // skip front and back shell
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contactSurfaces[i].NodeIds.Count() == contactSurfaces[j].NodeIds.Count() &&
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contactSurfaces[i].BoundingBox.Intersects(contactSurfaces[j].BoundingBox) &&
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contactSurfaces[i].NodeIds.Union(contactSurfaces[j].NodeIds).Count() == contactSurfaces[i].NodeIds.Count)
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{
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contactSurfaces[i].Internal = true;
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contactSurfaces[j].Internal = true;
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}
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}
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}
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return contactSurfaces;
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}
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private bool CheckSurfaceToSurfaceDistance(ContactSurface cs1, ContactSurface cs2, double distance, double angleRad)
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{
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if (cs1.Internal || cs2.Internal) return false;
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if (!_includeSelfContact && cs1.Part == cs2.Part) return false;
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if (!cs1.BoundingBox.Intersects(cs2.BoundingBox)) return false;
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//
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BoundingBox bb1;
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BoundingBox bb2;
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BoundingBox[] bbs1;
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BoundingBox[] bbs2;
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BoundingBox intersection = cs1.BoundingBox.GetIntersection(cs2.BoundingBox);
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//
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int[] cell1;
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int[] cell2;
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int[] cell1Ids;
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int[] cell2Ids;
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double[] cellNorm = new double[3];
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double[] edgeCellNorm = new double[3];
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double[][] t1 = new double[3][];
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double[][] t2 = new double[3][];
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t1[2] = new double[3];
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t2[2] = new double[3];
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//
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bool edgeSurface1 = cs1.GeometryType == GeometryType.ShellEdgeSurface;
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bool edgeSurface2 = cs2.GeometryType == GeometryType.ShellEdgeSurface;
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bool allowPenetration = (edgeSurface1 && edgeSurface2) ||
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(cs1.GeometryType == GeometryType.SolidSurface &&
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cs1.GeometryType == GeometryType.SolidSurface);
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bool onlyInternal = (cs1.GeometryType == GeometryType.SolidSurface ||
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cs1.GeometryType == GeometryType.ShellFrontSurface ||
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cs1.GeometryType == GeometryType.ShellBackSurface) &&
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(cs2.GeometryType == GeometryType.SolidSurface ||
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cs2.GeometryType == GeometryType.ShellFrontSurface ||
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cs2.GeometryType == GeometryType.ShellBackSurface);
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onlyInternal = false;
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// Use face cell ids or edge cell ids
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if (edgeSurface1)
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{
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bbs1 = _cellEdgeBoundingBoxes[cs1.Part.PartId];
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cell1Ids = cs1.Part.Visualization.EdgeCellIdsByEdge[cs1.Id];
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}
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else
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{
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bbs1 = _cellBoundingBoxes[cs1.Part.PartId];
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cell1Ids = cs1.Part.Visualization.CellIdsByFace[cs1.Id];
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}
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//
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foreach (int cell1Id in cell1Ids)
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{
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bb1 = bbs1[cell1Id];
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//
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if (bb1.Intersects(intersection))
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{
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// Use face cell ids or edge cell ids
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if (edgeSurface2)
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{
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bbs2 = _cellEdgeBoundingBoxes[cs2.Part.PartId];
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cell2Ids = cs2.Part.Visualization.EdgeCellIdsByEdge[cs2.Id];
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}
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else
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{
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bbs2 = _cellBoundingBoxes[cs2.Part.PartId];
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cell2Ids = cs2.Part.Visualization.CellIdsByFace[cs2.Id];
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}
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//
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foreach (int cell2Id in cell2Ids)
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{
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bb2 = bbs2[cell2Id];
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//
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if (bb1.Intersects(bb2))
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{
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cell1 = cs1.GetCell(cell1Id); // reverse cell ids for shell back faces or get shell edge cell
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cell2 = cs2.GetCell(cell2Id); // reverse cell ids for shell back faces or get shell edge cell
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// Cell 1 triangle 1
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t1[0] = _nodes[cell1[0]];
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t1[1] = _nodes[cell1[1]];
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if (!edgeSurface1) t1[2] = _nodes[cell1[2]];
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// Cell 2 triangle 1
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t2[0] = _nodes[cell2[0]];
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t2[1] = _nodes[cell2[1]];
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if (!edgeSurface2) t2[2] = _nodes[cell2[2]];
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// 1. triangle is edge segment - create a triangle out of it
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if (edgeSurface1)
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{
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cs1.GetEdgeCellNormal(cell1Id, _edgeCellBaseCellIds[cs1.Part.PartId][cell1Id],
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ref cellNorm, ref edgeCellNorm);
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Geometry.VpVxS(ref t1[2], t1[1], cellNorm, 0.001 * distance);
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}
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// 2. triangle is edge segment - create a triangle out of it
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if (edgeSurface2)
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{
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cs2.GetEdgeCellNormal(cell2Id, _edgeCellBaseCellIds[cs2.Part.PartId][cell2Id],
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ref cellNorm, ref edgeCellNorm);
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Geometry.VpVxS(ref t2[2], t2[1], cellNorm, 0.001 * distance);
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}
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if (CheckTriangleToTriangleDistance(t1, t2, distance, angleRad, allowPenetration, onlyInternal))
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return true;
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// Cell 2 is a rectangle
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if (cell2.Length == 4 || cell2.Length == 8)
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{
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// Cell 2 triangle 2
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t2[0] = _nodes[cell2[0]];
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t2[1] = _nodes[cell2[2]];
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t2[2] = _nodes[cell2[3]];
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//
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if (CheckTriangleToTriangleDistance(t1, t2, distance, angleRad, allowPenetration, onlyInternal))
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return true;
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}
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// Cell 1 is a rectangle
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if (cell1.Length == 4 || cell1.Length == 8)
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{
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// Cell 1 triangle 2
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t1[0] = _nodes[cell1[0]];
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t1[1] = _nodes[cell1[2]];
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t1[2] = _nodes[cell1[3]];
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//
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if (CheckTriangleToTriangleDistance(t1, t2, distance, angleRad, allowPenetration, onlyInternal))
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return true;
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// Cell 2 triangle 1 again
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if (cell2.Length == 4 || cell2.Length == 8)
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{
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t2[0] = _nodes[cell2[0]];
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t2[1] = _nodes[cell2[1]];
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t2[2] = _nodes[cell2[2]];
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//
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if (CheckTriangleToTriangleDistance(t1, t2, distance, angleRad, allowPenetration, onlyInternal))
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return true;
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}
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|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
private bool CheckTriangleToTriangleDistance(double[][] t1, double[][] t2, double distance, double angleRad,
|
|||
|
|
bool penetrationPossible, bool onlyInternal)
|
|||
|
|
{
|
|||
|
|
double dist;
|
|||
|
|
double ang;
|
|||
|
|
//
|
|||
|
|
double[] a = new double[3];
|
|||
|
|
double[] b = new double[3];
|
|||
|
|
double[] c = new double[3];
|
|||
|
|
double[] d = new double[3];
|
|||
|
|
double[] n1 = new double[3];
|
|||
|
|
double[] n2 = new double[3];
|
|||
|
|
// Triangle 1
|
|||
|
|
Geometry.VmV(ref a, t1[1], t1[0]);
|
|||
|
|
Geometry.VmV(ref b, t1[2], t1[0]);
|
|||
|
|
Geometry.VcrossV(ref n1, a, b);
|
|||
|
|
Geometry.VxS(ref n1, n1, 1 / Math.Sqrt(Geometry.VdotV(n1, n1)));
|
|||
|
|
// Triangle 2
|
|||
|
|
Geometry.VmV(ref c, t2[1], t2[0]);
|
|||
|
|
Geometry.VmV(ref d, t2[2], t2[0]);
|
|||
|
|
Geometry.VcrossV(ref n2, c, d);
|
|||
|
|
Geometry.VxS(ref n2, n2, 1 / Math.Sqrt(Geometry.VdotV(n2, n2)));
|
|||
|
|
//
|
|||
|
|
double vDotV = Geometry.Clamp(Geometry.VdotV(n1, n2), -1, 1);
|
|||
|
|
// 180° - the normal point in the opposite directions
|
|||
|
|
ang = Math.PI - Math.Acos(vDotV);
|
|||
|
|
if (ang < angleRad)
|
|||
|
|
{
|
|||
|
|
// Closest points on triangles t1 and t2 are p adn q, respectively
|
|||
|
|
double[] p = new double[3];
|
|||
|
|
double[] q = new double[3];
|
|||
|
|
double[] pq = new double[3];
|
|||
|
|
//
|
|||
|
|
dist = Geometry.TriDist(ref p, ref q, t1, t2, onlyInternal);
|
|||
|
|
//
|
|||
|
|
if (dist < distance)
|
|||
|
|
{
|
|||
|
|
// Check the orientation of the triangle normal
|
|||
|
|
if (dist > 0)
|
|||
|
|
{
|
|||
|
|
double ang1;
|
|||
|
|
double ang2;
|
|||
|
|
// pq is a vector from p to q
|
|||
|
|
Geometry.VmV(ref pq, q, p);
|
|||
|
|
Geometry.Vnorm(ref pq, pq);
|
|||
|
|
ang1 = Geometry.VdotV(pq, n1);
|
|||
|
|
if (!penetrationPossible && ang1 < 0) return false; // negative value means n1 points away from q
|
|||
|
|
ang2 = Geometry.VdotV(pq, n2);
|
|||
|
|
if (!penetrationPossible && ang2 > 0) return false; // positive value means n2 points away from p
|
|||
|
|
// Check that the closest triangle points are one above the other
|
|||
|
|
// The angle between the closest direction vector and normal must be small < 5° = 0.995
|
|||
|
|
if (Math.Abs(ang1) < 0.995 && Math.Abs(ang2) < 0.995) return false;
|
|||
|
|
}
|
|||
|
|
// Shrink the triangles and try again - the triangles should not overlap only over an vertex or an edge
|
|||
|
|
double[][] t1s = Geometry.ShrinkTriangle(t1, 3 * distance);
|
|||
|
|
double[][] t2s = Geometry.ShrinkTriangle(t2, 3 * distance);
|
|||
|
|
dist = Geometry.TriDist(ref p, ref q, t1s, t2s, false);
|
|||
|
|
if (dist > distance)
|
|||
|
|
return false;
|
|||
|
|
//
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
//
|
|||
|
|
private List<MasterSlaveItem> GroupContactPairsByNone(List<ContactSurface[]> contactSurfacePairs, bool tryToResolve)
|
|||
|
|
{
|
|||
|
|
List<MasterSlaveItem> masterSlaveItems = new List<MasterSlaveItem>();
|
|||
|
|
//
|
|||
|
|
foreach (var csp in contactSurfacePairs)
|
|||
|
|
{
|
|||
|
|
masterSlaveItems.Add(new MasterSlaveItem(csp[0].Part.Name, csp[1].Part.Name,
|
|||
|
|
new HashSet<int>() { csp[0].GeometryId },
|
|||
|
|
new HashSet<int>() { csp[1].GeometryId }));
|
|||
|
|
}
|
|||
|
|
//
|
|||
|
|
ContactGraph contactGraph = new ContactGraph();
|
|||
|
|
contactGraph.AddMasterSlaveItems(masterSlaveItems, _mesh);
|
|||
|
|
masterSlaveItems = contactGraph.GetMasterSlaveItems(tryToResolve);
|
|||
|
|
//
|
|||
|
|
return masterSlaveItems;
|
|||
|
|
}
|
|||
|
|
private List<MasterSlaveItem> GroupContactPairsByParts(List<ContactSurface[]> contactSurfacePairs, bool tryToResolve)
|
|||
|
|
{
|
|||
|
|
int i;
|
|||
|
|
int j;
|
|||
|
|
int iType;
|
|||
|
|
int jType;
|
|||
|
|
int[] key;
|
|||
|
|
MasterSlaveItem masterSlaveItem;
|
|||
|
|
CompareIntArray comparer = new CompareIntArray();
|
|||
|
|
Dictionary<int[], MasterSlaveItem> partKeyMasterSlaveItems = new Dictionary<int[], MasterSlaveItem>(comparer);
|
|||
|
|
//
|
|||
|
|
Dictionary<int, int> partIds = GetPartIdsMergedByCompounds();
|
|||
|
|
// Merge by part Id
|
|||
|
|
foreach (var csp in contactSurfacePairs)
|
|||
|
|
{
|
|||
|
|
if (partIds[csp[0].Part.PartId] < partIds[csp[1].Part.PartId])
|
|||
|
|
{
|
|||
|
|
i = 0;
|
|||
|
|
j = 1;
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
i = 1;
|
|||
|
|
j = 0;
|
|||
|
|
}
|
|||
|
|
//
|
|||
|
|
if (csp[i].GeometryType == GeometryType.ShellEdgeSurface) iType = 1;
|
|||
|
|
else iType = 0;
|
|||
|
|
if (csp[j].GeometryType == GeometryType.ShellEdgeSurface) jType = 1;
|
|||
|
|
else jType = 0;
|
|||
|
|
//
|
|||
|
|
key = new int[] { partIds[csp[i].Part.PartId], iType, partIds[csp[j].Part.PartId], jType };
|
|||
|
|
if (partKeyMasterSlaveItems.TryGetValue(key, out masterSlaveItem))
|
|||
|
|
{
|
|||
|
|
masterSlaveItem.MasterGeometryIds.Add(csp[i].GeometryId);
|
|||
|
|
masterSlaveItem.SlaveGeometryIds.Add(csp[j].GeometryId);
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
masterSlaveItem = new MasterSlaveItem(csp[i].Part.Name, csp[j].Part.Name,
|
|||
|
|
new HashSet<int>(), new HashSet<int>());
|
|||
|
|
masterSlaveItem.MasterGeometryIds.Add(csp[i].GeometryId);
|
|||
|
|
masterSlaveItem.SlaveGeometryIds.Add(csp[j].GeometryId);
|
|||
|
|
partKeyMasterSlaveItems.Add(key, masterSlaveItem);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
//
|
|||
|
|
ContactGraph contactGraph = new ContactGraph();
|
|||
|
|
contactGraph.AddMasterSlaveItems(partKeyMasterSlaveItems.Values, _mesh);
|
|||
|
|
List<MasterSlaveItem> masterSlaveItems = contactGraph.GetMasterSlaveItems(tryToResolve);
|
|||
|
|
//
|
|||
|
|
return masterSlaveItems;
|
|||
|
|
}
|
|||
|
|
private Dictionary<int,int> GetPartIdsMergedByCompounds()
|
|||
|
|
{
|
|||
|
|
int maxPartId = 0;
|
|||
|
|
Dictionary<int, int> partIds = new Dictionary<int, int>();
|
|||
|
|
foreach (var partEntry in _mesh.Parts)
|
|||
|
|
{
|
|||
|
|
partIds.Add(partEntry.Value.PartId, partEntry.Value.PartId);
|
|||
|
|
if (partEntry.Value.PartId > maxPartId) maxPartId = partEntry.Value.PartId;
|
|||
|
|
}
|
|||
|
|
//
|
|||
|
|
if (_geometry != null && _geometry.Parts != null)
|
|||
|
|
{
|
|||
|
|
BasePart part;
|
|||
|
|
foreach (var geometryPartEntry in _geometry.Parts)
|
|||
|
|
{
|
|||
|
|
if (geometryPartEntry.Value is CompoundGeometryPart cgp)
|
|||
|
|
{
|
|||
|
|
foreach (string subPartName in cgp.SubPartNames)
|
|||
|
|
{
|
|||
|
|
if (_mesh.Parts.TryGetValue(subPartName, out part)) partIds[part.PartId] = maxPartId;
|
|||
|
|
}
|
|||
|
|
maxPartId++;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
//
|
|||
|
|
return partIds;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|