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added normal vector update to pair iterative solver #324

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added normal vector update to pair iterative solver #324

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08419f0
added normal vector update to pair iterative solver
gavinwhetstone Apr 15, 2026
bf4f9d6
lowering final time on sie_test
gavinwhetstone Apr 15, 2026
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4 changes: 2 additions & 2 deletions apps/multiphysics/regression_tests/standard_inputs/sie_expansion_test.yaml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
# num_dims: 3

dynamic_options:
time_final: 3.0
time_final: 0.75
dt_min: 1.e-6
dt_max: 0.02
dt_start: 1.e-5
Expand All @@ -25,7 +25,7 @@ mesh_options:
output_options:
timer_output_level: thorough
output_file_format: state
graphics_time_step: 3.0
graphics_time_step: 0.75
# graphics_iteration_step: 10

solver_options:
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36 changes: 18 additions & 18 deletions ...iphysics/regression_tests/standard_results/3by3_stack/state/mat_pt_state_t_5.0000e+00.txt
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Original file line number Diff line number Diff line change
@@ -1,20 +1,20 @@
# state dump file
# x y z radius_2D radius_3D den pres sie sspd vol mass
-4.883982103439e-01 -4.883982103478e-01 -1.379316912433e+00 6.906993729098e-01 1.542588982413e+00 9.284963822646e-02 3.766668487565e-03 4.507488977176e-03 6.369254335838e-01 1.077010119911e+01 1.000000000000e+00
1.500000000002e+00 -4.962474158209e-01 -1.395214402770e+00 1.579956169555e+00 2.107815154944e+00 1.061495379533e-01 3.009034134547e-03 3.149680465004e-03 5.324201741579e-01 9.420672188322e+00 1.000000000000e+00
3.488398210342e+00 -4.883982103400e-01 -1.379316912522e+00 3.522421735934e+00 3.782852102707e+00 9.284963823120e-02 3.766668486466e-03 4.507488975631e-03 6.369254334746e-01 1.077010119856e+01 1.000000000000e+00
-4.962474158215e-01 1.500000000000e+00 -1.395214402707e+00 1.579956169553e+00 2.107815154901e+00 1.061495379485e-01 3.009034135576e-03 3.149680466223e-03 5.324201742610e-01 9.420672188745e+00 1.000000000000e+00
1.500000000001e+00 1.500000000000e+00 -1.424674035929e+00 2.121320343560e+00 2.555327006207e+00 1.272001496064e-01 1.785483102168e-03 1.559644481283e-03 3.746571810542e-01 7.861625973667e+00 1.000000000000e+00
3.496247415820e+00 1.499999999999e+00 -1.395214402805e+00 3.804437671014e+00 4.052205476333e+00 1.061495379560e-01 3.009034133980e-03 3.149680464332e-03 5.324201741012e-01 9.420672188088e+00 1.000000000000e+00
-4.883982103450e-01 3.488398210347e+00 -1.379316912447e+00 3.522421735940e+00 3.782852102685e+00 9.284963822770e-02 3.766668487231e-03 4.507488976717e-03 6.369254335513e-01 1.077010119897e+01 1.000000000000e+00
1.500000000001e+00 3.496247415821e+00 -1.395214402741e+00 3.804437671015e+00 4.052205476312e+00 1.061495379512e-01 3.009034135009e-03 3.149680465550e-03 5.324201742041e-01 9.420672188509e+00 1.000000000000e+00
3.488398210345e+00 3.488398210341e+00 -1.379316912474e+00 4.933340060025e+00 5.122534459902e+00 9.284963822843e-02 3.766668487142e-03 4.507488976574e-03 6.369254335412e-01 1.077010119888e+01 1.000000000000e+00
4.999930919800e-01 4.999930919800e-01 2.687539640239e-01 7.070970117709e-01 7.564488596289e-01 1.038651289160e+02 2.079486413901e-04 2.224558409549e-07 4.474486080651e-03 9.627870397276e-01 1.000000000000e+02
1.500000000000e+00 4.999930041111e-01 2.689699132318e-01 1.581136617804e+00 1.603850933966e+00 1.039123966162e+02 2.424661506954e-04 2.592634208033e-07 4.830497683707e-03 9.623490868882e-01 1.000000000000e+02
2.500006908020e+00 4.999930919800e-01 2.687539640253e-01 2.549515175906e+00 2.563641223993e+00 1.038651289163e+02 2.079486414499e-04 2.224558410182e-07 4.474486081288e-03 9.627870397249e-01 1.000000000000e+02
4.999930041111e-01 1.500000000000e+00 2.689699132308e-01 1.581136617804e+00 1.603850933966e+00 1.039123966160e+02 2.424661505268e-04 2.592634206236e-07 4.830497682033e-03 9.623490868901e-01 1.000000000000e+02
1.500000000000e+00 1.500000000000e+00 2.693324839416e-01 2.121320343560e+00 2.138349828000e+00 1.039913550028e+02 3.065148689267e-04 3.275003740225e-07 5.429091421410e-03 9.616183960420e-01 1.000000000000e+02
2.500006995889e+00 1.500000000000e+00 2.689699132324e-01 2.915481946350e+00 2.927862666471e+00 1.039123966164e+02 2.424661507243e-04 2.592634208339e-07 4.830497683992e-03 9.623490868871e-01 1.000000000000e+02
4.999930919800e-01 2.500006908020e+00 2.687539640243e-01 2.549515175906e+00 2.563641223993e+00 1.038651289161e+02 2.079486414087e-04 2.224558409745e-07 4.474486080848e-03 9.627870397268e-01 1.000000000000e+02
1.500000000000e+00 2.500006995889e+00 2.689699132314e-01 2.915481946350e+00 2.927862666471e+00 1.039123966161e+02 2.424661505674e-04 2.592634206667e-07 4.830497682434e-03 9.623490868890e-01 1.000000000000e+02
2.500006908020e+00 2.500006908020e+00 2.687539640244e-01 3.535543675348e+00 3.545743613613e+00 1.038651289161e+02 2.079486414127e-04 2.224558409788e-07 4.474486080891e-03 9.627870397266e-01 1.000000000000e+02
-4.864998800844e-01 -4.864998800862e-01 -1.405940450539e+00 6.880147285095e-01 1.565258067255e+00 9.513593697195e-02 4.129348259084e-03 4.822746144465e-03 6.588225504655e-01 1.051127504315e+01 1.000000000000e+00
1.500000000000e+00 -4.937635561019e-01 -1.434673573455e+00 1.579177776355e+00 2.133562914869e+00 1.095664150756e-01 3.180598924244e-03 3.225439841468e-03 5.387852872269e-01 9.126884358773e+00 1.000000000000e+00
3.486499880084e+00 -4.864998800829e-01 -1.405940450592e+00 3.520278901898e+00 3.790650616683e+00 9.513593697425e-02 4.129348258739e-03 4.822746143946e-03 6.588225504300e-01 1.051127504290e+01 1.000000000000e+00
-4.937635561018e-01 1.500000000000e+00 -1.434673573413e+00 1.579177776355e+00 2.133562914841e+00 1.095664150726e-01 3.180598924783e-03 3.225439842104e-03 5.387852872799e-01 9.126884359024e+00 1.000000000000e+00
1.500000000000e+00 1.500000000000e+00 -1.488796397635e+00 2.121320343560e+00 2.591623952971e+00 1.335884430225e-01 1.583542167901e-03 1.317098438950e-03 3.442947276760e-01 7.485677483579e+00 1.000000000000e+00
3.493763556102e+00 1.500000000000e+00 -1.434673573486e+00 3.802155150168e+00 4.063824805329e+00 1.095664150778e-01 3.180598923851e-03 3.225439841003e-03 5.387852871881e-01 9.126884358586e+00 1.000000000000e+00
-4.864998800845e-01 3.486499880086e+00 -1.405940450541e+00 3.520278901900e+00 3.790650616666e+00 9.513593697224e-02 4.129348259018e-03 4.822746144373e-03 6.588225504592e-01 1.051127504312e+01 1.000000000000e+00
1.500000000000e+00 3.493763556102e+00 -1.434673573444e+00 3.802155150167e+00 4.063824805314e+00 1.095664150748e-01 3.180598924389e-03 3.225439841638e-03 5.387852872410e-01 9.126884358836e+00 1.000000000000e+00
3.486499880085e+00 3.486499880083e+00 -1.405940450576e+00 4.930655415627e+00 5.127185522118e+00 9.513593697347e-02 4.129348258878e-03 4.822746144147e-03 6.588225504438e-01 1.051127504298e+01 1.000000000000e+00
4.999911187250e-01 4.999911187250e-01 2.689896186437e-01 7.070942211669e-01 7.565300076968e-01 1.039142581071e+02 2.181512899377e-04 2.332599265667e-07 4.581854798114e-03 9.623318476363e-01 1.000000000000e+02
1.500000000000e+00 4.999900837427e-01 2.693759261173e-01 1.581135694316e+00 1.603918162941e+00 1.039976962759e+02 2.856631669624e-04 3.052024517977e-07 5.241013323947e-03 9.615597612347e-01 1.000000000000e+02
2.500008881275e+00 4.999911187250e-01 2.689896186445e-01 2.549516723863e+00 2.563667478476e+00 1.039142581073e+02 2.181512899714e-04 2.332599266023e-07 4.581854798464e-03 9.623318476349e-01 1.000000000000e+02
4.999900837427e-01 1.500000000000e+00 2.693759261167e-01 1.581135694316e+00 1.603918162941e+00 1.039976962758e+02 2.856631668523e-04 3.052024516803e-07 5.241013322940e-03 9.615597612358e-01 1.000000000000e+02
1.500000000000e+00 1.500000000000e+00 2.700503458895e-01 2.121320343560e+00 2.138440363750e+00 1.041428829242e+02 4.259228702270e-04 4.544214835401e-07 6.395149217853e-03 9.602192410286e-01 1.000000000000e+02
2.500009916257e+00 1.500000000000e+00 2.693759261177e-01 2.915484450548e+00 2.927902486586e+00 1.039976962760e+02 2.856631669768e-04 3.052024518128e-07 5.241013324077e-03 9.615597612339e-01 1.000000000000e+02
4.999911187250e-01 2.500008881275e+00 2.689896186438e-01 2.549516723863e+00 2.563667478476e+00 1.039142581072e+02 2.181512899406e-04 2.332599265698e-07 4.581854798144e-03 9.623318476362e-01 1.000000000000e+02
1.500000000000e+00 2.500009916257e+00 2.693759261171e-01 2.915484450548e+00 2.927902486586e+00 1.039976962759e+02 2.856631669227e-04 3.052024517553e-07 5.241013323584e-03 9.615597612350e-01 1.000000000000e+02
2.500008881275e+00 2.500008881275e+00 2.689896186442e-01 3.535546465952e+00 3.545764265690e+00 1.039142581072e+02 2.181512899597e-04 2.332599265900e-07 4.581854798343e-03 9.623318476354e-01 1.000000000000e+02
8 changes: 4 additions & 4 deletions ...sics/regression_tests/standard_results/edge_flat_test/state/mat_pt_state_t_5.0000e+00.txt
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@@ -1,6 +1,6 @@
# state dump file
# x y z radius_2D radius_3D den pres sie sspd vol mass
0.000000000000e+00 -1.595874293988e+00 6.926654791153e-01 1.595874293988e+00 1.739712685523e+00 4.448289333673e-01 3.195894264542e-02 7.982829714760e-03 8.476170564166e-01 4.496110414537e+00 2.000000000000e+00
0.000000000000e+00 1.595859116208e+00 6.926627388737e-01 1.595859116208e+00 1.739697671611e+00 4.448239443393e-01 3.198439650037e-02 7.989277282843e-03 8.479592887962e-01 4.496160841725e+00 2.000000000000e+00
0.000000000000e+00 -1.187921810353e+00 1.813109879519e+00 1.187921810353e+00 2.167608281660e+00 3.567302076665e-01 1.900995352877e-02 5.921049054323e-03 7.299961745716e-01 2.803238914196e+00 1.000000000000e+00
0.000000000000e+00 1.187952165912e+00 1.813058758541e+00 1.187952165912e+00 2.167582157709e+00 3.566824114730e-01 1.913901645778e-02 5.962047232482e-03 7.325191130089e-01 2.803614554108e+00 1.000000000000e+00
0.000000000000e+00 -1.597744879932e+00 6.949905331442e-01 1.597744879932e+00 1.742354884204e+00 4.428870013887e-01 3.196954888513e-02 8.020493008847e-03 8.496142482305e-01 4.515824564118e+00 2.000000000000e+00
0.000000000000e+00 1.597700570858e+00 6.949807161810e-01 1.597700570858e+00 1.742310336876e+00 4.428763935148e-01 3.202490316557e-02 8.034572684520e-03 8.503596542680e-01 4.515932728153e+00 2.000000000000e+00
0.000000000000e+00 -1.187185152412e+00 1.817640406704e+00 1.187185152412e+00 2.170996368995e+00 3.557982072953e-01 1.893812293383e-02 5.914127273245e-03 7.295693624269e-01 2.810581895850e+00 1.000000000000e+00
0.000000000000e+00 1.187273770561e+00 1.817677163902e+00 1.187273770561e+00 2.171075604034e+00 3.558394760540e-01 1.882993388410e-02 5.879659275617e-03 7.274402620185e-01 2.810255936439e+00 1.000000000000e+00
7 changes: 0 additions & 7 deletions .../regression_tests/standard_results/sie_expansion_test/state/mat_pt_state_t_3.0000e+00.txt
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This file was deleted.

7 changes: 7 additions & 0 deletions .../regression_tests/standard_results/sie_expansion_test/state/mat_pt_state_t_7.5000e-01.txt
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Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
# state dump file
# x y z radius_2D radius_3D den pres sie sspd vol mass
7.758851822306e-01 -7.758850010704e-01 7.594136434005e-01 1.097267219455e+00 1.334430377605e+00 2.734230141435e-01 4.003676193962e-02 1.626976835998e-02 1.210074027652e+00 3.657336611304e+00 1.000000000000e+00
7.758853087508e-01 7.758846440922e-01 7.594149787255e-01 1.097267056497e+00 1.334431003532e+00 2.734222360372e-01 4.003615315659e-02 1.626956726825e-02 1.210066549469e+00 3.657347019370e+00 1.000000000000e+00
-7.758848163926e-01 -7.758854930946e-01 7.594160079075e-01 1.097267308682e+00 1.334431796597e+00 2.734212558679e-01 4.003733747532e-02 1.627010686749e-02 1.210086615939e+00 3.657360130345e+00 1.000000000000e+00
-7.758848168634e-01 7.758849896395e-01 7.594208078865e-01 1.097266953019e+00 1.334434235786e+00 2.734194061223e-01 4.004529840619e-02 1.627345207054e-02 1.210211009018e+00 3.657384873233e+00 1.000000000000e+00
-6.861940859235e-06 6.883604275101e-06 1.891164906051e+00 9.719580246689e-06 1.891164906076e+00 8.865772814350e-02 2.537730469803e-02 3.180433991541e-02 1.691860098349e+00 1.409888372029e+00 1.249975000000e-01
6 changes: 3 additions & 3 deletions ...egression_tests/standard_results/slanted_block_bounce/state/mat_pt_state_t_2.2600e+00.txt
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@@ -1,5 +1,5 @@
# state dump file
# x y z radius_2D radius_3D den pres sie sspd vol mass
-2.355127443356e-03 -1.048366661604e+00 9.227785606374e-01 1.048369306966e+00 1.396638276634e+00 1.015863861144e+00 1.879028433274e-02 2.055205869763e-03 4.300796766632e-01 1.968767741917e+00 2.000000000000e+00
-2.694243818525e-03 9.406086560805e-01 8.664583345320e-01 9.406125147176e-01 1.278867447519e+00 1.020935614700e+00 3.301368827893e-02 3.592966621725e-03 5.686536696050e-01 1.958987394702e+00 2.000000000000e+00
2.429533200422e-01 -1.506860424807e+00 2.974379928286e+00 1.526320626726e+00 3.343140830620e+00 1.489842781650e-01 1.429072452175e-02 1.065789155575e-02 9.793927914874e-01 3.775566166632e+00 5.625000000000e-01
-2.441938979142e-03 -1.048667337070e+00 9.232787032498e-01 1.048670180230e+00 1.397194585868e+00 1.016083036215e+00 1.853793588695e-02 2.027167643481e-03 4.271359126944e-01 1.968343067166e+00 2.000000000000e+00
-2.811577529700e-03 9.401843469042e-01 8.669250154334e-01 9.401885508407e-01 1.278871961346e+00 1.020938164436e+00 3.294644008352e-02 3.585638868595e-03 5.680734971582e-01 1.958982502240e+00 2.000000000000e+00
2.436791698092e-01 -1.504282701635e+00 2.970942333571e+00 1.523891723266e+00 3.338973544915e+00 1.485696587011e-01 1.421657673704e-02 1.063218190887e-02 9.782108013095e-01 3.786102794594e+00 5.625000000000e-01
6 changes: 3 additions & 3 deletions ...sics/regression_tests/standard_results/slanted_impact/state/mat_pt_state_t_3.0000e+00.txt
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@@ -1,5 +1,5 @@
# state dump file
# x y z radius_2D radius_3D den pres sie sspd vol mass
-2.119367766285e-07 -1.315129131491e+00 5.882193468096e-01 1.315129131491e+00 1.440682696661e+00 5.225452539529e-01 8.921225391837e-02 1.896959657104e-02 1.306623010433e+00 5.741129552524e+00 3.000000000000e+00
-1.701077002092e-06 1.113348722553e+00 4.728546773677e-01 1.113348722554e+00 1.209601969212e+00 4.932757156651e-01 5.218943143530e-01 1.175574943359e-01 3.252718015788e+00 6.081791389132e+00 3.000000000000e+00
1.147808267016e-06 6.210682453630e-01 1.307963611822e+00 6.210682453641e-01 1.447927683018e+00 2.279922811875e+00 4.085145114771e-01 1.990878859530e-02 1.338577966940e+00 2.193056700848e+00 5.000000000000e+00
-2.234459035744e-06 -1.316193646639e+00 5.881353661067e-01 1.316193646641e+00 1.441620242756e+00 5.194480285246e-01 9.166662012476e-02 1.960769789192e-02 1.328417408149e+00 5.775361220488e+00 3.000000000000e+00
-5.814355590328e-06 1.115890132309e+00 4.692917367106e-01 1.115890132325e+00 1.210555872963e+00 4.945986473280e-01 5.007708401365e-01 1.124976882978e-01 3.181947822765e+00 6.065524069278e+00 3.000000000000e+00
4.829288775543e-06 6.201821085979e-01 1.304664290099e+00 6.201821086167e-01 1.444567325433e+00 2.265138031939e+00 3.949222527656e-01 1.937199838975e-02 1.320408972659e+00 2.207370998808e+00 5.000000000000e+00
60 changes: 60 additions & 0 deletions apps/multiphysics/src/Solvers/SGH_solver_3D/src/contact.cpp
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Expand Up @@ -875,6 +875,66 @@ void frictionless_increment(ViewCArrayKokkos <double> &pair_vars, size_t &contac
pair_vars(0) = sol[0];
pair_vars(1) = sol[1];
pair_vars(6) = sol[2];

// updating normal direction for next iteration
// Get the derivative arrays
d_phi_d_xi(d_phi_d_xi_arr, sol[0], sol[1], xi, eta);
d_phi_d_eta(d_phi_d_eta_arr, sol[0], sol[1], xi, eta);

// get the next patch locations
double next_A[3][4];
for (int j = 0; j < 3; j++) {
for (int k = 0; k < 4; k++) {
size_t node_gid = bdy_nodes(contact_surface_map(k));
ak = -pair_vars(6)*pair_vars(j+3)*phi_k[k];
ak += contact_forces(contact_surface_map(k),j);
for (size_t corner_lid = 0; corner_lid < num_corners_in_node(node_gid); corner_lid++)
{
ak += corner_force(corners_in_node(node_gid, corner_lid), j);
}
ak /= mass(node_gid);
A[j][k] = coords(node_gid,j) + vel(node_gid,j)*del_t + 0.5*ak*del_t*del_t;
}
}

// Get dr_dxi and dr_deta by performing the matrix multiplication A*d_phi_d_xi and A*d_phi_d_eta
double dr_dxi[3];
dr_dxi[0] = 0;
dr_dxi[1] = 0;
dr_dxi[2] = 0;
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 4; j++) {
dr_dxi[i] += A[i][j]*d_phi_d_xi_arr[j];
}
}

double dr_deta[3];
dr_deta[0] = 0;
dr_deta[1] = 0;
dr_deta[2] = 0;
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 4; j++) {
dr_deta[i] += A[i][j]*d_phi_d_eta_arr[j];
}
}

// normal is the cross product of the isoparametric derivatives
double next_normal[3];
next_normal[0] = dr_dxi[1]*dr_deta[2] - dr_dxi[2]*dr_deta[1];
next_normal[1] = dr_dxi[2]*dr_deta[0] - dr_dxi[0]*dr_deta[2];
next_normal[2] = dr_dxi[0]*dr_deta[1] - dr_dxi[1]*dr_deta[0];

// Make the normal a unit vector
double norm_val = sqrt(pow(next_normal[0],2) + pow(next_normal[1],2) + pow(next_normal[2],2));
next_normal[0] /= norm_val;
next_normal[1] /= norm_val;
next_normal[2] /= norm_val;

// update for next iteration
pair_vars(3) = next_normal[0];
pair_vars(4) = next_normal[1];
pair_vars(5) = next_normal[2];

}
if (!converged) {
printf("NOT CONVERGED\n");
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