constraint_type.hpp

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#pragma once
 
#include <cstdint>
 
#include <Kokkos_Core.hpp>
 
namespace kynema::constraints {
 
enum class ConstraintType : std::uint8_t {
    None = 0,               //< No constraint -- default type
    FixedBC = 1,            //< Fixed boundary condition/clamped constraint -- all DOFs fixed at
                            //< the node where the constraint is applied
    PrescribedBC = 2,       //< Prescribed boundary condition -- displacement and orientation values
                            //< are specified => all DOFs are defined at the node
    RigidJoint = 3,         //< Rigid constraint between two nodes -- no relative motion permitted
                            //< between the nodes => all DOFs of target node are constrained
    RevoluteJoint = 4,      //< Target node rotates freely around a specified axis --
                            //< all but one DOFs are constrained
    RotationControl = 5,    //< A rotation is specified about a given axis and other DOFs
                            //< are constrained => all DOFs are constrained/specified
    FixedBC3DOFs = 6,       //< Fixed BC applied to a node with 3 DOFs
    PrescribedBC3DOFs = 7,  //< Prescribed BC applied to a node with 3 DOFs
    RigidJoint6DOFsTo3DOFs = 8  //< Rigid joint with target node having 3 DOFs
};
 
KOKKOS_INLINE_FUNCTION
constexpr size_t GetNumberOfNodes(ConstraintType t) {
    // Rigid joint, Revolute joint, Rotation control constraints require two nodes
    const auto has_two_nodes =
        t == ConstraintType::RigidJoint || t == ConstraintType::RevoluteJoint ||
        t == ConstraintType::RotationControl || t == ConstraintType::RigidJoint6DOFsTo3DOFs;
 
    // Default is one node -- Fixed and Prescribed BCs
    return 1U + static_cast<size_t>(has_two_nodes);
}
 
KOKKOS_INLINE_FUNCTION
constexpr size_t NumColsForConstraint(ConstraintType type) {
    // Fixed 3 DOFs on the target node
    if (type == ConstraintType::FixedBC3DOFs || type == ConstraintType::PrescribedBC3DOFs) {
        return 3U;
    }
 
    // 6 DOFs base node to 3 DOFs target node
    if (type == ConstraintType::RigidJoint6DOFsTo3DOFs) {
        return 9U;
    }
 
    // All other constraints have 12 columns
    if (type == ConstraintType::RevoluteJoint || type == ConstraintType::None ||
        type == ConstraintType::FixedBC || type == ConstraintType::PrescribedBC ||
        type == ConstraintType::RigidJoint || type == ConstraintType::RotationControl) {
        return 12U;
    }
 
    return 0U;
}
 
KOKKOS_INLINE_FUNCTION
constexpr size_t NumRowsForConstraint(ConstraintType type) {
    // 6 to 3 DOF constraints fix 3 DOFs on the target node
    if (type == ConstraintType::FixedBC3DOFs || type == ConstraintType::PrescribedBC3DOFs ||
        type == ConstraintType::RigidJoint6DOFsTo3DOFs) {
        return 3U;
    }
 
    // A revolute joint constraint fixes 5 DOFs
    if (type == ConstraintType::RevoluteJoint) {
        return 5U;
    }
 
    // All other constraints fix 6 DOFs
    if (type == ConstraintType::None || type == ConstraintType::FixedBC ||
        type == ConstraintType::PrescribedBC || type == ConstraintType::RigidJoint ||
        type == ConstraintType::RotationControl) {
        return 6U;
    }
 
    return 0U;
}
 
}  // namespace kynema::constraints