1e29264cymsimweb: WebGPU companion of cymsim with YAML/form editor, live spectrogram and playbackJeremy Magland 1// The discrete shell, as in cymsim/shell.py: thickness and height sampled on the mesh, the CST
2// slope of the nodal heights, element stiffnesses, lumped mass with the inflated rotational
3// inertia, the six M-orthonormal rigid-body modes, the node-to-element adjacency used by the
4// gather of element forces, and the Irons element bound on the largest eigenfrequency that sets
5// the stable time step. Everything here is float64 and computed once per configuration.
6import type { Material, Numerics } from "../config/schema.ts";
7import { dktStiffness } from "./dkt.ts";
8import type { CymbalProfile } from "./geometry.ts";
9import { symmetricEigenvalues } from "./linalg.ts";
10import type { Mesh } from "./mesh.ts";
12export const N_DOF = 5; // (u, v, w, theta_x, theta_y) per node
14export interface Shell {
15 mesh: Mesh; material: Material; numerics: Numerics; nl: number;
16 hE: Float64Array; hNode: Float64Array; z0Node: Float64Array; z0x: Float64Array; z0y: Float64Array;
13f4dbdexport .cymsim fileJeremy Magland 17 normalNode: Float64Array; // (N, 3) unit normal of the rest surface at the nodes, +z side (front)
1e29264cymsimweb: WebGPU companion of cymsim with YAML/form editor, live spectrogram and playbackJeremy Magland 18 De: Float64Array; Cm: Float64Array; // (E,) and (E, 3) = (C11, C12, C33)
19 Ke: Float64Array; // (E, 81)
20 rhoHA: Float64Array; // (E,) rho h A
21 M: Float64Array; Minv: Float64Array; // (N, 5)
22 Rm: Float64Array; // (6, N, 5), M-orthonormal
76fcbe0GPU: rigid modes evaluated from node positions; convert older states on importJeremy Magland 23 rigidCentre: [number, number]; // mean node position, the origin of rawRigidModes
1e29264cymsimweb: WebGPU companion of cymsim with YAML/form editor, live spectrogram and playbackJeremy Magland 24 adjOffsets: Uint32Array; adjEntries: Uint32Array; // CSR: node -> list of (3 e + local index)
25 mass: number; maxSlope: number; omegaMax: number; dtStable: number; limitingElement: number;
26 zeroModes: [number, number]; // min and max count of zero-energy element modes (expect 6)
27}
76fcbe0GPU: rigid modes evaluated from node positions; convert older states on importJeremy Magland 29/** The six rigid-body modes of the curved shell at a node at (X, Y) from the rigid centre with rest
30 * height z, before M-orthonormalisation: (u, v, w, theta_x, theta_y) of the two in-plane translations,
31 * the rotation about z, the normal translation and the two tilts. */
32export function rawRigidModes(X: number, Y: number, z: number): number[][] {
33 return [[1, 0, 0, 0, 0], [0, 1, 0, 0, 0], [-Y, X, 0, 0, 0], [0, 0, 1, 0, 0], [0, -z, Y, 1, 0], [z, 0, -X, 0, 1]];
34}
1e29264cymsimweb: WebGPU companion of cymsim with YAML/form editor, live spectrogram and playbackJeremy Magland 36export function buildShell(mesh: Mesh, profile: CymbalProfile, material: Material, numerics: Numerics): Shell {
37 const N = mesh.n, E = mesh.e, { xy, tri, area, Gx, Gy } = mesh;
38 const nl = numerics.nonlinear ? 1 : 0;
39 const hE = new Float64Array(E), hNode = new Float64Array(N), z0Node = new Float64Array(N);
40 for (let e = 0; e < E; e++) hE[e] = profile.thickness(mesh.centroid[2 * e], mesh.centroid[2 * e + 1]);
41 for (let n = 0; n < N; n++) { hNode[n] = profile.thickness(xy[2 * n], xy[2 * n + 1]); z0Node[n] = profile.z0(xy[2 * n], xy[2 * n + 1]); }
42 const z0x = new Float64Array(E), z0y = new Float64Array(E);
43 let maxSlope = 0;
44 for (let e = 0; e < E; e++) {
45 let sx = 0, sy = 0;
46 for (let i = 0; i < 3; i++) { const z = z0Node[tri[3 * e + i]]; sx += Gx[3 * e + i] * z; sy += Gy[3 * e + i] * z; }
47 z0x[e] = sx; z0y[e] = sy; maxSlope = Math.max(maxSlope, Math.hypot(sx, sy));
48 }
13f4dbdexport .cymsim fileJeremy Magland 49 // nodal normal from the area-weighted mean of the adjacent elements' slopes, as in cymsim/shell.py
50 const normalNode = new Float64Array(3 * N), gxN = new Float64Array(N), gyN = new Float64Array(N), aN = new Float64Array(N);
51 for (let e = 0; e < E; e++) for (let i = 0; i < 3; i++) { const n = tri[3 * e + i]; gxN[n] += area[e] * z0x[e]; gyN[n] += area[e] * z0y[e]; aN[n] += area[e]; }
52 for (let n = 0; n < N; n++) {
53 const gx = gxN[n] / aN[n], gy = gyN[n] / aN[n], nrm = Math.sqrt(1 + gx * gx + gy * gy);
54 normalNode[3 * n] = -gx / nrm; normalNode[3 * n + 1] = -gy / nrm; normalNode[3 * n + 2] = 1 / nrm;
55 }
1e29264cymsimweb: WebGPU companion of cymsim with YAML/form editor, live spectrogram and playbackJeremy Magland 56 const { E: Ey, nu, rho } = material;
57 const De = new Float64Array(E), Cm = new Float64Array(3 * E), Ke = new Float64Array(81 * E), rhoHA = new Float64Array(E);
58 for (let e = 0; e < E; e++) {
59 De[e] = (Ey * hE[e] ** 3) / (12 * (1 - nu * nu));
60 const c = (Ey * hE[e]) / (1 - nu * nu);
61 Cm[3 * e] = c; Cm[3 * e + 1] = c * nu; Cm[3 * e + 2] = c * 0.5 * (1 - nu);
62 rhoHA[e] = rho * hE[e] * area[e];
63 const xe = [xy[2 * tri[3 * e]], xy[2 * tri[3 * e + 1]], xy[2 * tri[3 * e + 2]]];
64 const ye = [xy[2 * tri[3 * e] + 1], xy[2 * tri[3 * e + 1] + 1], xy[2 * tri[3 * e + 2] + 1]];
65 Ke.set(dktStiffness(xe, ye, De[e], nu), 81 * e);
66 }
67 // lumped mass
68 const M = new Float64Array(N_DOF * N);
69 const mE = new Float64Array(E), IE = new Float64Array(E);
70 for (let e = 0; e < E; e++) {
71 mE[e] = (rho * hE[e] * area[e]) / 3;
72 IE[e] = mE[e] * ((hE[e] * hE[e]) / 12 + numerics.rot_inertia_factor * area[e]);
73 for (let k = 0; k < 3; k++) {
74 const n = tri[3 * e + k];
75 M[5 * n] += mE[e] * numerics.inplane_mass_scale; M[5 * n + 1] += mE[e] * numerics.inplane_mass_scale;
76 M[5 * n + 2] += mE[e]; M[5 * n + 3] += IE[e]; M[5 * n + 4] += IE[e];
77 }
78 }
79 const Minv = M.map((m) => 1 / m);
80 let mass = 0;
81 for (let n = 0; n < N; n++) mass += M[5 * n + 2];
82 // rigid-body modes of the curved shell, M-orthonormalised by Gram-Schmidt
83 let cx = 0, cy = 0;
84 for (let n = 0; n < N; n++) { cx += xy[2 * n]; cy += xy[2 * n + 1]; }
85 cx /= N; cy /= N;
86 const Rm = new Float64Array(6 * N_DOF * N);
87 const set = (k: number, n: number, d: number, val: number) => { Rm[(k * N + n) * N_DOF + d] = val; };
88 for (let n = 0; n < N; n++) {
76fcbe0GPU: rigid modes evaluated from node positions; convert older states on importJeremy Magland 89 const r = rawRigidModes(xy[2 * n] - cx, xy[2 * n + 1] - cy, z0Node[n]);
90 for (let k = 0; k < 6; k++) for (let d = 0; d < N_DOF; d++) set(k, n, d, r[k][d]);
1e29264cymsimweb: WebGPU companion of cymsim with YAML/form editor, live spectrogram and playbackJeremy Magland 91 }
92 const L = N_DOF * N;
93 const mdot = (a: number, b: number) => { let s = 0; for (let i = 0; i < L; i++) s += Rm[a * L + i] * M[i] * Rm[b * L + i]; return s; };
94 for (let k = 0; k < 6; k++) {
95 for (let l = 0; l < k; l++) { const c = mdot(l, k); for (let i = 0; i < L; i++) Rm[k * L + i] -= c * Rm[l * L + i]; }
96 const nrm = Math.sqrt(mdot(k, k));
97 for (let i = 0; i < L; i++) Rm[k * L + i] /= nrm;
98 }
99 // adjacency (CSR)
100 const deg = new Uint32Array(N);
101 for (let e = 0; e < E; e++) for (let k = 0; k < 3; k++) deg[tri[3 * e + k]]++;
102 const adjOffsets = new Uint32Array(N + 1);
103 for (let n = 0; n < N; n++) adjOffsets[n + 1] = adjOffsets[n] + deg[n];
104 const adjEntries = new Uint32Array(adjOffsets[N]), fill = new Uint32Array(N);
105 for (let e = 0; e < E; e++) for (let k = 0; k < 3; k++) { const n = tri[3 * e + k]; adjEntries[adjOffsets[n] + fill[n]++] = 3 * e + k; }
106 // Irons bound: lambda_max(M^-1 K) <= max_e lambda_max(M_e^-1 K_e), K_e the element tangent at rest
107 let lamMax = 0, limitingElement = 0, zmin = 15, zmax = 0;
108 const S = new Float64Array(225), me = new Float64Array(15);
109 for (let e = 0; e < E; e++) {
110 elementTangent(e, Gx, Gy, area[e], z0x[e], z0y[e], Cm, Ke, S);
111 for (let i = 0; i < 3; i++) {
112 me[5 * i] = mE[e] * numerics.inplane_mass_scale; me[5 * i + 1] = mE[e] * numerics.inplane_mass_scale;
113 me[5 * i + 2] = mE[e]; me[5 * i + 3] = IE[e]; me[5 * i + 4] = IE[e];
114 }
115 for (let i = 0; i < 15; i++) for (let j = 0; j < 15; j++) S[15 * i + j] /= Math.sqrt(me[i] * me[j]);
116 const ev = symmetricEigenvalues(S, 15);
117 const top = ev[14];
118 let nz = 0; for (const v of ev) if (v < 1e-9 * top) nz++;
119 zmin = Math.min(zmin, nz); zmax = Math.max(zmax, nz);
120 if (top > lamMax) { lamMax = top; limitingElement = e; }
121 }
122 const omegaMax = Math.sqrt(lamMax);
76fcbe0GPU: rigid modes evaluated from node positions; convert older states on importJeremy Magland 123 return { mesh, material, numerics, nl, hE, hNode, z0Node, z0x, z0y, normalNode, De, Cm, Ke, rhoHA, M, Minv, Rm, rigidCentre: [cx, cy], adjOffsets, adjEntries,
1e29264cymsimweb: WebGPU companion of cymsim with YAML/form editor, live spectrogram and playbackJeremy Magland 124 mass, maxSlope, omegaMax, dtStable: 2 / omegaMax, limitingElement, zeroModes: [zmin, zmax] };
125}
127/** 15 x 15 tangent stiffness of one element at rest: A B^T C B (membrane, linear part) plus DKT on the bending slots. */
128export function elementTangent(e: number, Gx: Float64Array, Gy: Float64Array, A: number, z0x: number, z0y: number,
129 Cm: Float64Array, Ke: Float64Array, out: Float64Array) {
130 out.fill(0);
131 // B rows: exx, eyy, gxy over the 15 DOFs (node-major u, v, w, thx, thy)
132 const B = [new Float64Array(15), new Float64Array(15), new Float64Array(15)];
133 for (let i = 0; i < 3; i++) {
134 const gx = Gx[3 * e + i], gy = Gy[3 * e + i];
135 B[0][5 * i] = gx; B[0][5 * i + 2] = z0x * gx;
136 B[1][5 * i + 1] = gy; B[1][5 * i + 2] = z0y * gy;
137 B[2][5 * i] = gy; B[2][5 * i + 1] = gx; B[2][5 * i + 2] = z0x * gy + z0y * gx;
138 }
139 const C = [[Cm[3 * e], Cm[3 * e + 1], 0], [Cm[3 * e + 1], Cm[3 * e], 0], [0, 0, Cm[3 * e + 2]]];
140 for (let i = 0; i < 15; i++) for (let j = 0; j < 15; j++) {
141 let s = 0;
142 for (let k = 0; k < 3; k++) for (let l = 0; l < 3; l++) s += B[k][i] * C[k][l] * B[l][j];
143 out[15 * i + j] = A * s;
144 }
145 const slot = [2, 3, 4, 7, 8, 9, 12, 13, 14]; // (w, thx, thy) x 3 within the 15
146 for (let i = 0; i < 9; i++) for (let j = 0; j < 9; j++) out[15 * slot[i] + slot[j]] += Ke[81 * e + 9 * i + j];
147}