state.hpp

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#pragma once
 
#include "dof_management/freedom_signature.hpp"
 
namespace kynema {
 
template <typename DeviceType>
struct State {
    template <typename ValueType>
    using View = Kokkos::View<ValueType, DeviceType>;
 
    size_t time_step{0};
    size_t num_system_nodes;
    View<size_t*> ID;
    View<dof::FreedomSignature*> node_freedom_allocation_table;
    View<size_t*> active_dofs;
    View<size_t*> node_freedom_map_table;
 
    View<double* [7]> x0;          //< Initial global position/rotation
    View<double* [7]> x;           //< Current global position/rotation
    View<double* [6]> q_delta;     //< Displacement increment
    View<double* [7]> q_prev;      //< Previous state
    View<double* [7]> q;           //< Current state
    View<double* [6]> v;           //< Velocity
    View<double* [6]> vd;          //< Acceleration
    View<double* [6]> a;           //< Algorithmic acceleration
    View<double* [6]> f;           //< External forces
    View<double* [6][6]> tangent;  //< Tangent matrix
 
    explicit State(size_t num_system_nodes_)
        : num_system_nodes(num_system_nodes_),
          ID(Kokkos::view_alloc("ID", Kokkos::WithoutInitializing), num_system_nodes),
          node_freedom_allocation_table(
              Kokkos::view_alloc("node_freedom_allocation_table", Kokkos::WithoutInitializing),
              num_system_nodes
          ),
          active_dofs(
              Kokkos::view_alloc("active_dofs", Kokkos::WithoutInitializing), num_system_nodes
          ),
          node_freedom_map_table(
              Kokkos::view_alloc("node_freedom_map_table", Kokkos::WithoutInitializing),
              num_system_nodes
          ),
          x0(Kokkos::view_alloc("x0", Kokkos::WithoutInitializing), num_system_nodes),
          x(Kokkos::view_alloc("x", Kokkos::WithoutInitializing), num_system_nodes),
          q_delta(Kokkos::view_alloc("q_delta", Kokkos::WithoutInitializing), num_system_nodes),
          q_prev(Kokkos::view_alloc("q_prev", Kokkos::WithoutInitializing), num_system_nodes),
          q(Kokkos::view_alloc("q", Kokkos::WithoutInitializing), num_system_nodes),
          v(Kokkos::view_alloc("v", Kokkos::WithoutInitializing), num_system_nodes),
          vd(Kokkos::view_alloc("vd", Kokkos::WithoutInitializing), num_system_nodes),
          a(Kokkos::view_alloc("a", Kokkos::WithoutInitializing), num_system_nodes),
          f(Kokkos::view_alloc("f", Kokkos::WithoutInitializing), num_system_nodes),
          tangent(Kokkos::view_alloc("tangent", Kokkos::WithoutInitializing), num_system_nodes) {
        // Initialize q and q_prev rotation to identity
        Kokkos::deep_copy(Kokkos::subview(this->q_prev, Kokkos::ALL, 3), 1.);
        Kokkos::deep_copy(Kokkos::subview(this->q, Kokkos::ALL, 3), 1.);
    }
};
 
}  // namespace kynema