contact.cpp

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/**
 * \file contact.cpp
 * \CONTACT contact.cpp
 *
 * CONTACT of contact problem
 *
 * @copyright Copyright (c) 2023
 */
 
#ifndef EXECUTABLE_DIMENSION
#define EXECUTABLE_DIMENSION 3
#endif
 
#include <MoFEM.hpp>
#include <MatrixFunction.hpp>
 
#ifdef PYTHON_SFD
#include <boost/python.hpp>
#include <boost/python/def.hpp>
namespace bp = boost::python;
#endif
 
using namespace MoFEM;
 
constexpr AssemblyType A = AssemblyType::PETSC; //< selected assembly type
constexpr IntegrationType I =
    IntegrationType::GAUSS; //< selected integration type
 
template <int DIM> struct ElementsAndOps {};
 
template <> struct ElementsAndOps<2> : PipelineManager::ElementsAndOpsByDim<2> {
  static constexpr FieldSpace CONTACT_SPACE = HCURL;
};
 
template <> struct ElementsAndOps<3> : PipelineManager::ElementsAndOpsByDim<3> {
  static constexpr FieldSpace CONTACT_SPACE = HDIV;
};
 
constexpr FieldSpace ElementsAndOps<2>::CONTACT_SPACE;
constexpr FieldSpace ElementsAndOps<3>::CONTACT_SPACE;
 
constexpr int SPACE_DIM =
    EXECUTABLE_DIMENSION; //< Space dimension of problem, mesh
 
using EntData = EntitiesFieldData::EntData;
using DomainEle = ElementsAndOps<SPACE_DIM>::DomainEle;
using DomainEleOp = DomainEle::UserDataOperator;
using BoundaryEle = ElementsAndOps<SPACE_DIM>::BoundaryEle;
using BoundaryEleOp = BoundaryEle::UserDataOperator;
 
using AssemblyDomainEleOp = FormsIntegrators<DomainEleOp>::Assembly<A>::OpBase;
using AssemblyBoundaryEleOp =
    FormsIntegrators<BoundaryEleOp>::Assembly<A>::OpBase;
constexpr FieldSpace CONTACT_SPACE = ElementsAndOps<SPACE_DIM>::CONTACT_SPACE;
 
//! [Operators used for contact]
using OpMixDivULhs = FormsIntegrators<DomainEleOp>::Assembly<
    PETSC>::BiLinearForm<I>::OpMixDivTimesVec<SPACE_DIM>;
using OpLambdaGraULhs = FormsIntegrators<DomainEleOp>::Assembly<
    PETSC>::BiLinearForm<I>::OpMixTensorTimesGrad<SPACE_DIM>;
using OpMixDivURhs = FormsIntegrators<DomainEleOp>::Assembly<A>::LinearForm<
    GAUSS>::OpMixDivTimesU<3, SPACE_DIM, SPACE_DIM>;
using OpMixLambdaGradURhs = FormsIntegrators<DomainEleOp>::Assembly<
    PETSC>::LinearForm<I>::OpMixTensorTimesGradU<SPACE_DIM>;
using OpMixUTimesDivLambdaRhs = FormsIntegrators<DomainEleOp>::Assembly<
    PETSC>::LinearForm<I>::OpMixVecTimesDivLambda<SPACE_DIM>;
using OpMixUTimesLambdaRhs = FormsIntegrators<DomainEleOp>::Assembly<
    PETSC>::LinearForm<I>::OpGradTimesTensor<1, SPACE_DIM, SPACE_DIM>;
using OpSpringLhs = FormsIntegrators<BoundaryEleOp>::Assembly<
    PETSC>::BiLinearForm<I>::OpMass<1, SPACE_DIM>;
using OpSpringRhs = FormsIntegrators<BoundaryEleOp>::Assembly<
    PETSC>::LinearForm<I>::OpBaseTimesVector<1, SPACE_DIM, 1>;
//! [Operators used for contact]
 
//! [Only used for dynamics]
using OpMass = FormsIntegrators<DomainEleOp>::Assembly<A>::BiLinearForm<
    GAUSS>::OpMass<1, SPACE_DIM>;
using OpInertiaForce = FormsIntegrators<DomainEleOp>::Assembly<
    PETSC>::LinearForm<I>::OpBaseTimesVector<1, SPACE_DIM, 1>;
//! [Only used for dynamics]
 
//! [Essential boundary conditions]
using OpEssentialLhs = EssentialBC<BoundaryEleOp>::Assembly<A>::BiLinearForm<
    GAUSS>::OpEssentialLhs<DisplacementCubitBcData, 1, SPACE_DIM>;
using OpEssentialRhs = EssentialBC<BoundaryEleOp>::Assembly<A>::LinearForm<
    GAUSS>::OpEssentialRhs<DisplacementCubitBcData, 1, SPACE_DIM>;
//! [Essential boundary conditions]
 
// Only used with Hencky/nonlinear material
using OpKPiola = FormsIntegrators<DomainEleOp>::Assembly<A>::BiLinearForm<
    GAUSS>::OpGradTensorGrad<1, SPACE_DIM, SPACE_DIM, 1>;
using OpInternalForcePiola = FormsIntegrators<DomainEleOp>::Assembly<
    PETSC>::LinearForm<I>::OpGradTimesTensor<1, SPACE_DIM, SPACE_DIM>;
 
namespace ContactOps {
 
struct DomainBCs {};
struct BoundaryBCs {};
 
using DomainRhsBCs = NaturalBC<DomainEleOp>::Assembly<A>::LinearForm<I>;
using OpDomainRhsBCs = DomainRhsBCs::OpFlux<DomainBCs, 1, SPACE_DIM>;
using BoundaryRhsBCs = NaturalBC<BoundaryEleOp>::Assembly<A>::LinearForm<I>;
using OpBoundaryRhsBCs = BoundaryRhsBCs::OpFlux<BoundaryBCs, 1, SPACE_DIM>;
using BoundaryLhsBCs = NaturalBC<BoundaryEleOp>::Assembly<A>::BiLinearForm<I>;
using OpBoundaryLhsBCs = BoundaryLhsBCs::OpFlux<BoundaryBCs, 1, SPACE_DIM>;
 
MoFEMErrorCode addMatBlockOps(
    MoFEM::Interface &m_field,
    boost::ptr_deque<ForcesAndSourcesCore::UserDataOperator> &pipeline,
    std::string field_name, std::string block_name,
    boost::shared_ptr<MatrixDouble> mat_D_Ptr, Sev sev);
 
}; // namespace ContactOps
 
constexpr bool is_quasi_static = true;
 
int order = 2;
constexpr int geom_order =
    1; ///< Currently calculation of normals at integration points is missing on
       ///< edges (i.e. 2d case). We have to restrict to linear geometry in 2d.
double young_modulus = 100;
double poisson_ratio = 0.25;
double rho = 0.0;
double cn = 0.1;
double spring_stiffness = 0.1;
 
double alpha_dumping = 0;
 
#include <HenckyOps.hpp>
using namespace HenckyOps;
#include <ContactOps.hpp>
#include <PostProcContact.hpp>
#include <ContactNaturalDomainBC.hpp>
#include <ContactNaturalBoundaryBC.hpp>
 
using namespace ContactOps;
 
struct Contact {
 
  Contact(MoFEM::Interface &m_field) : mField(m_field) {}
 
  MoFEMErrorCode runProblem();
 
private:
  MoFEM::Interface &mField;
 
  MoFEMErrorCode setupProblem();
  MoFEMErrorCode createCommonData();
  MoFEMErrorCode bC();
  MoFEMErrorCode OPs();
  MoFEMErrorCode tsSolve();
  MoFEMErrorCode postProcess();
  MoFEMErrorCode checkResults();
 
  std::tuple<SmartPetscObj<Vec>, SmartPetscObj<VecScatter>> uXScatter;
  std::tuple<SmartPetscObj<Vec>, SmartPetscObj<VecScatter>> uYScatter;
  std::tuple<SmartPetscObj<Vec>, SmartPetscObj<VecScatter>> uZScatter;
  boost::shared_ptr<std::vector<unsigned char>> boundaryMarker;
 
#ifdef PYTHON_SFD
  boost::shared_ptr<SDFPython> sdfPythonPtr;
#endif
};
 
//! [Run problem]
MoFEMErrorCode Contact::runProblem() {
  MoFEMFunctionBegin;
  CHKERR setupProblem();
  CHKERR createCommonData();
  CHKERR bC();
  CHKERR OPs();
  CHKERR tsSolve();
  CHKERR postProcess();
  CHKERR checkResults();
  MoFEMFunctionReturn(0);
}
//! [Run problem]
 
//! [Set up problem]
MoFEMErrorCode Contact::setupProblem() {
  MoFEMFunctionBegin;
  Simple *simple = mField.getInterface<Simple>();
 
  CHKERR PetscOptionsGetInt(PETSC_NULL, "", "-order", &order, PETSC_NULL);
  // CHKERR PetscOptionsGetInt(PETSC_NULL, "", "-geom_order", &geom_order,
  //                           PETSC_NULL);
  MOFEM_LOG("CONTACT", Sev::inform) << "Order " << order;
  MOFEM_LOG("CONTACT", Sev::inform) << "Geom order " << geom_order;
 
  // Select base
  enum bases { AINSWORTH, DEMKOWICZ, LASBASETOPT };
  const char *list_bases[LASBASETOPT] = {"ainsworth", "demkowicz"};
  PetscInt choice_base_value = AINSWORTH;
  CHKERR PetscOptionsGetEList(PETSC_NULL, NULL, "-base", list_bases,
                              LASBASETOPT, &choice_base_value, PETSC_NULL);
 
  FieldApproximationBase base;
  switch (choice_base_value) {
  case AINSWORTH:
    base = AINSWORTH_LEGENDRE_BASE;
    MOFEM_LOG("CONTACT", Sev::inform)
        << "Set AINSWORTH_LEGENDRE_BASE for displacements";
    break;
  case DEMKOWICZ:
    base = DEMKOWICZ_JACOBI_BASE;
    MOFEM_LOG("CONTACT", Sev::inform)
        << "Set DEMKOWICZ_JACOBI_BASE for displacements";
    break;
  default:
    base = LASTBASE;
    break;
  }
 
  // Note: For tets we have only H1 Ainsworth base, for Hex we have only H1
  // Demkowicz base. We need to implement Demkowicz H1 base on tet.
  CHKERR simple->addDomainField("U", H1, base, SPACE_DIM);
  CHKERR simple->addBoundaryField("U", H1, base, SPACE_DIM);
  CHKERR simple->addDomainField("SIGMA", CONTACT_SPACE, DEMKOWICZ_JACOBI_BASE,
                                SPACE_DIM);
  CHKERR simple->addBoundaryField("SIGMA", CONTACT_SPACE, DEMKOWICZ_JACOBI_BASE,
                                  SPACE_DIM);
  // CHKERR simple->addDataField("GEOMETRY", H1, base, SPACE_DIM);
 
 
  CHKERR simple->setFieldOrder("U", order);
  // CHKERR simple->setFieldOrder("SIGMA", 0);
  // CHKERR simple->setFieldOrder("GEOMETRY", geom_order);
 
  auto get_skin = [&]() {
    Range body_ents;
    CHKERR mField.get_moab().get_entities_by_dimension(0, SPACE_DIM, body_ents);
    Skinner skin(&mField.get_moab());
    Range skin_ents;
    CHKERR skin.find_skin(0, body_ents, false, skin_ents);
    return skin_ents;
  };
 
  auto filter_blocks = [&](auto skin) {
    Range contact_range;
    for (auto m :
         mField.getInterface<MeshsetsManager>()->getCubitMeshsetPtr(std::regex(
 
             (boost::format("%s(.*)") % "CONTACT").str()
 
                 ))
 
    ) {
      MOFEM_LOG("CONTACT", Sev::inform)
          << "Find contact block set:  " << m->getName();
      auto meshset = m->getMeshset();
      CHKERR mField.get_moab().get_entities_by_dimension(meshset, SPACE_DIM - 1,
                                                         contact_range, true);
 
      MOFEM_LOG("SYNC", Sev::inform)
          << "Nb entities in contact surface: " << contact_range.size();
      MOFEM_LOG_SYNCHRONISE(mField.get_comm());
      CHKERR mField.getInterface<CommInterface>()->synchroniseEntities(
          contact_range);
      skin = intersect(skin, contact_range);
    }
    return skin;
  };
 
  auto filter_true_skin = [&](auto skin) {
    Range boundary_ents;
    ParallelComm *pcomm =
        ParallelComm::get_pcomm(&mField.get_moab(), MYPCOMM_INDEX);
    CHKERR pcomm->filter_pstatus(skin, PSTATUS_SHARED | PSTATUS_MULTISHARED,
                                 PSTATUS_NOT, -1, &boundary_ents);
    return boundary_ents;
  };
 
  auto boundary_ents = filter_true_skin(filter_blocks(get_skin()));
  CHKERR simple->setFieldOrder("SIGMA", 0);
  CHKERR simple->setFieldOrder("SIGMA", order - 1, &boundary_ents);
 
  CHKERR simple->setUp();
 
  // auto project_ho_geometry = [&]() {
  //   Projection10NodeCoordsOnField ent_method(mField, "GEOMETRY");
  //   return mField.loop_dofs("GEOMETRY", ent_method);
  // };
  // CHKERR project_ho_geometry();
 
  MoFEMFunctionReturn(0);
}
//! [Set up problem]
 
//! [Create common data]
MoFEMErrorCode Contact::createCommonData() {
  MoFEMFunctionBegin;
 
  auto get_options = [&]() {
    MoFEMFunctionBegin;
    CHKERR PetscOptionsGetScalar(PETSC_NULL, "", "-young_modulus",
                                 &young_modulus, PETSC_NULL);
    CHKERR PetscOptionsGetScalar(PETSC_NULL, "", "-poisson_ratio",
                                 &poisson_ratio, PETSC_NULL);
    CHKERR PetscOptionsGetScalar(PETSC_NULL, "", "-rho", &rho, PETSC_NULL);
    CHKERR PetscOptionsGetScalar(PETSC_NULL, "", "-cn", &cn, PETSC_NULL);
    CHKERR PetscOptionsGetScalar(PETSC_NULL, "", "-spring_stiffness",
                                 &spring_stiffness, PETSC_NULL);
    CHKERR PetscOptionsGetScalar(PETSC_NULL, "", "-alpha_dumping",
                                 &alpha_dumping, PETSC_NULL);
 
    MOFEM_LOG("CONTACT", Sev::inform) << "Young modulus " << young_modulus;
    MOFEM_LOG("CONTACT", Sev::inform) << "Poisson_ratio " << poisson_ratio;
    MOFEM_LOG("CONTACT", Sev::inform) << "Density " << rho;
    MOFEM_LOG("CONTACT", Sev::inform) << "cn " << cn;
    MOFEM_LOG("CONTACT", Sev::inform)
        << "spring_stiffness " << spring_stiffness;
    MOFEM_LOG("CONTACT", Sev::inform) << "alpha_dumping " << alpha_dumping;
 
    MoFEMFunctionReturn(0);
  };
 
  CHKERR get_options();
 
#ifdef PYTHON_SFD
  sdfPythonPtr = boost::make_shared<SDFPython>();
  CHKERR sdfPythonPtr->sdfInit("sdf.py");
  sdfPythonWeakPtr = sdfPythonPtr;
#endif
 
  MoFEMFunctionReturn(0);
}
//! [Create common data]
 
//! [Boundary condition]
MoFEMErrorCode Contact::bC() {
  MoFEMFunctionBegin;
  auto bc_mng = mField.getInterface<BcManager>();
  auto simple = mField.getInterface<Simple>();
 
  for (auto f : {"U", "SIGMA"}) {
    CHKERR bc_mng->removeBlockDOFsOnEntities(simple->getProblemName(),
                                             "REMOVE_X", f, 0, 0);
    CHKERR bc_mng->removeBlockDOFsOnEntities(simple->getProblemName(),
                                             "REMOVE_Y", f, 1, 1);
    CHKERR bc_mng->removeBlockDOFsOnEntities(simple->getProblemName(),
                                             "REMOVE_Z", f, 2, 2);
    CHKERR bc_mng->removeBlockDOFsOnEntities(simple->getProblemName(),
                                             "REMOVE_ALL", f, 0, 3);
  }
 
  CHKERR bc_mng->removeBlockDOFsOnEntities(simple->getProblemName(), "FIX_X",
                                           "SIGMA", 0, 0, false, true);
  CHKERR bc_mng->removeBlockDOFsOnEntities(simple->getProblemName(), "FIX_Y",
                                           "SIGMA", 1, 1, false, true);
  CHKERR bc_mng->removeBlockDOFsOnEntities(simple->getProblemName(), "FIX_Z",
                                           "SIGMA", 2, 2, false, true);
  CHKERR bc_mng->removeBlockDOFsOnEntities(simple->getProblemName(), "FIX_ALL",
                                           "SIGMA", 0, 3, false, true);
  CHKERR bc_mng->removeBlockDOFsOnEntities(
      simple->getProblemName(), "NO_CONTACT", "SIGMA", 0, 3, false, true);
 
  // Note remove has to be always before push. Then node marking will be
  // corrupted.
  CHKERR bc_mng->pushMarkDOFsOnEntities<DisplacementCubitBcData>(
      simple->getProblemName(), "U");
  boundaryMarker = bc_mng->getMergedBlocksMarker(vector<string>{"FIX_", "ROTATE_"});
 
  MoFEMFunctionReturn(0);
}
//! [Boundary condition]
 
//! [Push operators to pip]
MoFEMErrorCode Contact::OPs() {
  MoFEMFunctionBegin;
  auto simple = mField.getInterface<Simple>();
  auto *pip_mng = mField.getInterface<PipelineManager>();
  auto bc_mng = mField.getInterface<BcManager>();
  auto time_scale = boost::make_shared<TimeScale>();
 
  auto add_domain_base_ops = [&](auto &pip) {
    CHKERR AddHOOps<SPACE_DIM, SPACE_DIM, SPACE_DIM>::add(pip, {H1, HDIV}/*,
                                                          "GEOMETRY"*/);
  };
 
  auto common_data_ptr = boost::make_shared<ContactOps::CommonData>();
  auto henky_common_data_ptr = boost::make_shared<HenckyOps::CommonData>();
  henky_common_data_ptr->matGradPtr = common_data_ptr->mGradPtr();
  henky_common_data_ptr->matDPtr = common_data_ptr->mDPtr();
 
  auto add_domain_ops_lhs = [&](auto &pip) {
    pip.push_back(new OpSetBc("U", true, boundaryMarker));
 
    CHKERR addMatBlockOps(mField, pip, "U", "MAT_ELASTIC",
                          common_data_ptr->mDPtr(), Sev::verbose);
 
    pip.push_back(new OpCalculateVectorFieldGradient<SPACE_DIM, SPACE_DIM>(
        "U", common_data_ptr->mGradPtr()));
    pip.push_back(
        new OpCalculateEigenVals<SPACE_DIM>("U", henky_common_data_ptr));
    pip.push_back(new OpCalculateLogC<SPACE_DIM>("U", henky_common_data_ptr));
    pip.push_back(
        new OpCalculateLogC_dC<SPACE_DIM>("U", henky_common_data_ptr));
    pip.push_back(
        new OpCalculateHenckyStress<SPACE_DIM>("U", henky_common_data_ptr));
    pip.push_back(
        new OpCalculatePiolaStress<SPACE_DIM>("U", henky_common_data_ptr));
    pip.push_back(new OpHenckyTangent<SPACE_DIM>("U", henky_common_data_ptr));
    pip.push_back(
        new OpKPiola("U", "U", henky_common_data_ptr->getMatTangent()));
 
    if (!is_quasi_static) {
      auto get_inertia_and_mass_dumping = [this](const double, const double,
                                                 const double) {
        auto *pip_mng = mField.getInterface<PipelineManager>();
        auto &fe_domain_lhs = pip_mng->getDomainLhsFE();
        return rho * fe_domain_lhs->ts_aa + alpha_dumping * fe_domain_lhs->ts_a;
      };
      pip.push_back(new OpMass("U", "U", get_inertia_and_mass_dumping));
    } else if (alpha_dumping > 0) {
      auto get_mass_dumping = [this](const double, const double,
                                      const double) {
        auto *pip_mng = mField.getInterface<PipelineManager>();
        auto &fe_domain_lhs = pip_mng->getDomainLhsFE();
        return alpha_dumping * fe_domain_lhs->ts_a;
      };
      pip.push_back(new OpMass("U", "U", get_mass_dumping));
    }
 
    auto unity = []() { return 1; };
    pip.push_back(new OpMixDivULhs("SIGMA", "U", unity, true));
    pip.push_back(new OpLambdaGraULhs("SIGMA", "U", unity, true));
 
    pip.push_back(new OpUnSetBc("U"));
  };
 
  auto add_domain_ops_rhs = [&](auto &pip) {
    pip.push_back(new OpSetBc("U", true, boundaryMarker));
 
    CHKERR DomainRhsBCs::AddFluxToPipeline<OpDomainRhsBCs>::add(
        pip, mField, "U", {time_scale}, Sev::inform);
 
    CHKERR addMatBlockOps(mField, pip, "U", "MAT_ELASTIC",
                          common_data_ptr->mDPtr(), Sev::inform);
    pip.push_back(new OpCalculateVectorFieldGradient<SPACE_DIM, SPACE_DIM>(
        "U", common_data_ptr->mGradPtr()));
 
    pip.push_back(
        new OpCalculateEigenVals<SPACE_DIM>("U", henky_common_data_ptr));
    pip.push_back(new OpCalculateLogC<SPACE_DIM>("U", henky_common_data_ptr));
    pip.push_back(
        new OpCalculateLogC_dC<SPACE_DIM>("U", henky_common_data_ptr));
    pip.push_back(
        new OpCalculateHenckyStress<SPACE_DIM>("U", henky_common_data_ptr));
    pip.push_back(
        new OpCalculatePiolaStress<SPACE_DIM>("U", henky_common_data_ptr));
    pip.push_back(new OpInternalForcePiola(
        "U", henky_common_data_ptr->getMatFirstPiolaStress()));
 
    pip.push_back(new OpCalculateVectorFieldValues<SPACE_DIM>(
        "U", common_data_ptr->contactDispPtr()));
 
    pip.push_back(new OpCalculateHVecTensorField<SPACE_DIM, SPACE_DIM>(
        "SIGMA", common_data_ptr->contactStressPtr()));
    pip.push_back(new OpCalculateHVecTensorDivergence<SPACE_DIM, SPACE_DIM>(
        "SIGMA", common_data_ptr->contactStressDivergencePtr()));
 
    pip.push_back(new OpMixDivURhs("SIGMA", common_data_ptr->contactDispPtr(),
                                   [](double, double, double) { return 1; }));
    pip.push_back(
        new OpMixLambdaGradURhs("SIGMA", common_data_ptr->mGradPtr()));
 
    pip.push_back(new OpMixUTimesDivLambdaRhs(
        "U", common_data_ptr->contactStressDivergencePtr()));
    pip.push_back(
        new OpMixUTimesLambdaRhs("U", common_data_ptr->contactStressPtr()));
 
    // only in case of dynamics
    if (!is_quasi_static) {
      auto mat_acceleration = boost::make_shared<MatrixDouble>();
      pip.push_back(new OpCalculateVectorFieldValuesDotDot<SPACE_DIM>(
          "U", mat_acceleration));
      pip.push_back(new OpInertiaForce(
          "U", mat_acceleration, [](double, double, double) { return rho; }));
    }
    if (alpha_dumping > 0) {
      auto mat_velocity = boost::make_shared<MatrixDouble>();
      pip.push_back(
          new OpCalculateVectorFieldValuesDot<SPACE_DIM>("U", mat_velocity));
      pip.push_back(
          new OpInertiaForce("U", mat_velocity, [](double, double, double) {
            return alpha_dumping;
          }));
    }
    pip.push_back(new OpUnSetBc("U"));
  };
 
  auto add_boundary_base_ops = [&](auto &pip) {
    CHKERR AddHOOps<SPACE_DIM - 1, SPACE_DIM, SPACE_DIM>::add(pip, {HDIV}/*,
                                                              "GEOMETRY"*/);
    pip.push_back(new OpCalculateVectorFieldValues<SPACE_DIM>(
        "U", common_data_ptr->contactDispPtr()));
    pip.push_back(new OpCalculateHVecTensorTrace<SPACE_DIM, BoundaryEleOp>(
        "SIGMA", common_data_ptr->contactTractionPtr()));
  };
 
  auto add_boundary_ops_lhs = [&](auto &pip) {
    MoFEMFunctionBegin;
    CHKERR EssentialBC<BoundaryEleOp>::Assembly<A>::BiLinearForm<GAUSS>::
        AddEssentialToPipeline<OpEssentialLhs>::add(
            mField, pip, simple->getProblemName(), "U");
    pip.push_back(new OpSetBc("U", true, boundaryMarker));
    CHKERR BoundaryLhsBCs::AddFluxToPipeline<OpBoundaryLhsBCs>::add(
        pip, mField, "U", Sev::inform);
    pip.push_back(new OpConstrainBoundaryLhs_dU("SIGMA", "U", common_data_ptr));
    pip.push_back(new OpConstrainBoundaryLhs_dTraction("SIGMA", "SIGMA",
                                                       common_data_ptr));
 
    if (spring_stiffness > 0)
      pip.push_back(new OpSpringLhs(
          "U", "U",
 
          [this](double, double, double) { return spring_stiffness; }
 
          ));
 
    pip.push_back(new OpUnSetBc("U"));
    MoFEMFunctionReturn(0);
  };
 
  auto add_boundary_ops_rhs = [&](auto &pip) {
    MoFEMFunctionBegin;
 
    auto u_mat_ptr = boost::make_shared<MatrixDouble>();
    pip.push_back(new OpCalculateVectorFieldValues<SPACE_DIM>("U", u_mat_ptr));
    CHKERR EssentialBC<BoundaryEleOp>::Assembly<A>::LinearForm<GAUSS>::
        AddEssentialToPipeline<OpEssentialRhs>::add(
            mField, pip, simple->getProblemName(), "U", u_mat_ptr,
            {boost::make_shared<TimeScale>()}); // note displacements have no
                                                // scaling
 
    pip.push_back(new OpSetBc("U", true, boundaryMarker));
    CHKERR BoundaryRhsBCs::AddFluxToPipeline<OpBoundaryRhsBCs>::add(
        pip, mField, "U", {time_scale}, Sev::inform);
    pip.push_back(new OpConstrainBoundaryRhs("SIGMA", common_data_ptr));
    if (spring_stiffness > 0)
      pip.push_back(new OpSpringRhs(
          "U", common_data_ptr->contactDispPtr(),
          [this](double, double, double) { return spring_stiffness; }));
    pip.push_back(new OpUnSetBc("U"));
    MoFEMFunctionReturn(0);
  };
 
  add_domain_base_ops(pip_mng->getOpDomainLhsPipeline());
  add_domain_base_ops(pip_mng->getOpDomainRhsPipeline());
  add_domain_ops_lhs(pip_mng->getOpDomainLhsPipeline());
  add_domain_ops_rhs(pip_mng->getOpDomainRhsPipeline());
 
  add_boundary_base_ops(pip_mng->getOpBoundaryLhsPipeline());
  add_boundary_base_ops(pip_mng->getOpBoundaryRhsPipeline());
  CHKERR add_boundary_ops_lhs(pip_mng->getOpBoundaryLhsPipeline());
  CHKERR add_boundary_ops_rhs(pip_mng->getOpBoundaryRhsPipeline());
 
  auto integration_rule_vol = [](int, int, int approx_order) {
    return 2 * approx_order + geom_order - 1;
  };
  CHKERR pip_mng->setDomainRhsIntegrationRule(integration_rule_vol);
  CHKERR pip_mng->setDomainLhsIntegrationRule(integration_rule_vol);
  auto integration_rule_boundary = [](int, int, int approx_order) {
    return 2 * approx_order + geom_order - 1;
  };
  CHKERR pip_mng->setBoundaryRhsIntegrationRule(integration_rule_boundary);
  CHKERR pip_mng->setBoundaryLhsIntegrationRule(integration_rule_boundary);
 
  MoFEMFunctionReturn(0);
}
//! [Push operators to pip]
 
//! [Solve]
MoFEMErrorCode Contact::tsSolve() {
  MoFEMFunctionBegin;
 
  Simple *simple = mField.getInterface<Simple>();
  PipelineManager *pip_mng = mField.getInterface<PipelineManager>();
  ISManager *is_manager = mField.getInterface<ISManager>();
 
  auto set_section_monitor = [&](auto solver) {
    MoFEMFunctionBegin;
    SNES snes;
    CHKERR TSGetSNES(solver, &snes);
    PetscViewerAndFormat *vf;
    CHKERR PetscViewerAndFormatCreate(PETSC_VIEWER_STDOUT_WORLD,
                                      PETSC_VIEWER_DEFAULT, &vf);
    CHKERR SNESMonitorSet(
        snes,
        (MoFEMErrorCode(*)(SNES, PetscInt, PetscReal, void *))SNESMonitorFields,
        vf, (MoFEMErrorCode(*)(void **))PetscViewerAndFormatDestroy);
    MoFEMFunctionReturn(0);
  };
 
  auto scatter_create = [&](auto D, auto coeff) {
    SmartPetscObj<IS> is;
    CHKERR is_manager->isCreateProblemFieldAndRank(simple->getProblemName(),
                                                   ROW, "U", coeff, coeff, is);
    int loc_size;
    CHKERR ISGetLocalSize(is, &loc_size);
    Vec v;
    CHKERR VecCreateMPI(mField.get_comm(), loc_size, PETSC_DETERMINE, &v);
    VecScatter scatter;
    CHKERR VecScatterCreate(D, is, v, PETSC_NULL, &scatter);
    return std::make_tuple(SmartPetscObj<Vec>(v),
                           SmartPetscObj<VecScatter>(scatter));
  };
 
  auto set_time_monitor = [&](auto dm, auto solver) {
    MoFEMFunctionBegin;
    boost::shared_ptr<Monitor> monitor_ptr(
        new Monitor(dm, uXScatter, uYScatter, uZScatter));
    boost::shared_ptr<ForcesAndSourcesCore> null;
    CHKERR DMMoFEMTSSetMonitor(dm, solver, simple->getDomainFEName(),
                               monitor_ptr, null, null);
    MoFEMFunctionReturn(0);
  };
 
  auto set_fieldsplit_preconditioner = [&](auto solver) {
    MoFEMFunctionBegin;
 
    SNES snes;
    CHKERR TSGetSNES(solver, &snes);
    KSP ksp;
    CHKERR SNESGetKSP(snes, &ksp);
    PC pc;
    CHKERR KSPGetPC(ksp, &pc);
    PetscBool is_pcfs = PETSC_FALSE;
    PetscObjectTypeCompare((PetscObject)pc, PCFIELDSPLIT, &is_pcfs);
 
    // Setup fieldsplit (block) solver - optional: yes/no
    if (is_pcfs == PETSC_TRUE) {
      auto bc_mng = mField.getInterface<BcManager>();
      auto name_prb = simple->getProblemName();
      auto is_all_bc = bc_mng->getBlockIS(name_prb, "FIX_X", "U", 0, 0);
      is_all_bc = bc_mng->getBlockIS(name_prb, "FIX_Y", "U", 1, 1, is_all_bc);
      is_all_bc = bc_mng->getBlockIS(name_prb, "FIX_Z", "U", 2, 2, is_all_bc);
      is_all_bc = bc_mng->getBlockIS(name_prb, "FIX_ALL", "U", 0, 2, is_all_bc);
      int is_all_bc_size;
      CHKERR ISGetSize(is_all_bc, &is_all_bc_size);
      MOFEM_LOG("CONTACT", Sev::inform)
          << "Field split block size " << is_all_bc_size;
      CHKERR PCFieldSplitSetIS(pc, PETSC_NULL,
                               is_all_bc); // boundary block
    }
 
    MoFEMFunctionReturn(0);
  };
 
  auto dm = simple->getDM();
  auto D = createDMVector(dm);
 
  ContactOps::CommonData::createTotalTraction(mField);
 
  uXScatter = scatter_create(D, 0);
  uYScatter = scatter_create(D, 1);
  if (SPACE_DIM == 3)
    uZScatter = scatter_create(D, 2);
 
  if (is_quasi_static) {
    auto solver = pip_mng->createTSIM();
    auto D = createDMVector(dm);
    CHKERR set_section_monitor(solver);
    CHKERR set_time_monitor(dm, solver);
    CHKERR TSSetSolution(solver, D);
    CHKERR TSSetFromOptions(solver);
    CHKERR set_fieldsplit_preconditioner(solver);
    CHKERR TSSetUp(solver);
    CHKERR TSSolve(solver, NULL);
  } else {
    auto solver = pip_mng->createTSIM2();
    auto dm = simple->getDM();
    auto D = createDMVector(dm);
    auto DD = vectorDuplicate(D);
    CHKERR set_section_monitor(solver);
    CHKERR set_time_monitor(dm, solver);
    CHKERR TS2SetSolution(solver, D, DD);
    CHKERR TSSetFromOptions(solver);
    CHKERR set_fieldsplit_preconditioner(solver);
    CHKERR TSSetUp(solver);
    CHKERR TSSolve(solver, NULL);
  }
 
  ContactOps::CommonData::totalTraction.reset();
 
  CHKERR VecGhostUpdateBegin(D, INSERT_VALUES, SCATTER_FORWARD);
  CHKERR VecGhostUpdateEnd(D, INSERT_VALUES, SCATTER_FORWARD);
  CHKERR DMoFEMMeshToLocalVector(dm, D, INSERT_VALUES, SCATTER_REVERSE);
 
  MoFEMFunctionReturn(0);
}
//! [Solve]
 
//! [Postprocess results]
MoFEMErrorCode Contact::postProcess() { return 0; }
//! [Postprocess results]
 
//! [Check]
MoFEMErrorCode Contact::checkResults() { return 0; }
//! [Check]
 
static char help[] = "...\n\n";
 
int main(int argc, char *argv[]) {
 
#ifdef PYTHON_SFD
  Py_Initialize();
#endif
 
  // Initialisation of MoFEM/PETSc and MOAB data structures
  const char param_file[] = "param_file.petsc";
  MoFEM::Core::Initialize(&argc, &argv, param_file, help);
 
  // Add logging channel for CONTACT
  auto core_log = logging::core::get();
  core_log->add_sink(
      LogManager::createSink(LogManager::getStrmWorld(), "CONTACT"));
  LogManager::setLog("CONTACT");
  MOFEM_LOG_TAG("CONTACT", "indent");
 
  try {
 
    //! [Register MoFEM discrete manager in PETSc]
    DMType dm_name = "DMMOFEM";
    CHKERR DMRegister_MoFEM(dm_name);
    //! [Register MoFEM discrete manager in PETSc
 
    //! [Create MoAB]
    moab::Core mb_instance;              ///< mesh database
    moab::Interface &moab = mb_instance; ///< mesh database interface
    //! [Create MoAB]
 
    //! [Create MoFEM]
    MoFEM::Core core(moab);           ///< finite element database
    MoFEM::Interface &m_field = core; ///< finite element database interface
    //! [Create MoFEM]
 
    //! [Load mesh]
    Simple *simple = m_field.getInterface<Simple>();
    CHKERR simple->getOptions();
    CHKERR simple->loadFile("");
    //! [Load mesh]
 
    //! [CONTACT]
    Contact ex(m_field);
    CHKERR ex.runProblem();
    //! [CONTACT]
  }
  CATCH_ERRORS;
 
  CHKERR MoFEM::Core::Finalize();
 
#ifdef PYTHON_SFD
  if (Py_FinalizeEx() < 0) {
    exit(120);
  }
#endif
}
 
MoFEMErrorCode ContactOps::addMatBlockOps(
    MoFEM::Interface &m_field,
    boost::ptr_deque<ForcesAndSourcesCore::UserDataOperator> &pipeline,
    std::string field_name, std::string block_name,
    boost::shared_ptr<MatrixDouble> mat_D_Ptr, Sev sev) {
  MoFEMFunctionBegin;
 
  struct OpMatBlocks : public DomainEleOp {
    OpMatBlocks(std::string field_name, boost::shared_ptr<MatrixDouble> m,
                double bulk_modulus_K, double shear_modulus_G,
                MoFEM::Interface &m_field, Sev sev,
                std::vector<const CubitMeshSets *> meshset_vec_ptr)
        : DomainEleOp(field_name, DomainEleOp::OPROW), matDPtr(m),
          bulkModulusKDefault(bulk_modulus_K),
          shearModulusGDefault(shear_modulus_G) {
      std::fill(&(doEntities[MBEDGE]), &(doEntities[MBMAXTYPE]), false);
      CHK_THROW_MESSAGE(extractBlockData(m_field, meshset_vec_ptr, sev),
                        "Can not get data from block");
    }
 
    MoFEMErrorCode doWork(int side, EntityType type,
                          EntitiesFieldData::EntData &data) {
      MoFEMFunctionBegin;
 
      for (auto &b : blockData) {
 
        if (b.blockEnts.find(getFEEntityHandle()) != b.blockEnts.end()) {
          CHKERR getMatDPtr(matDPtr, b.bulkModulusK, b.shearModulusG);
          MoFEMFunctionReturnHot(0);
        }
      }
 
      CHKERR getMatDPtr(matDPtr, bulkModulusKDefault, shearModulusGDefault);
      MoFEMFunctionReturn(0);
    }
 
  private:
    boost::shared_ptr<MatrixDouble> matDPtr;
 
    struct BlockData {
      double bulkModulusK;
      double shearModulusG;
      Range blockEnts;
    };
 
    double bulkModulusKDefault;
    double shearModulusGDefault;
    std::vector<BlockData> blockData;
 
    MoFEMErrorCode
    extractBlockData(MoFEM::Interface &m_field,
                     std::vector<const CubitMeshSets *> meshset_vec_ptr,
                     Sev sev) {
      MoFEMFunctionBegin;
 
      for (auto m : meshset_vec_ptr) {
        MOFEM_TAG_AND_LOG("WORLD", sev, "MatBlock") << *m;
        std::vector<double> block_data;
        CHKERR m->getAttributes(block_data);
        if (block_data.size() != 2) {
          SETERRQ(PETSC_COMM_SELF, MOFEM_DATA_INCONSISTENCY,
                  "Expected that block has two attribute");
        }
        auto get_block_ents = [&]() {
          Range ents;
          CHKERR
          m_field.get_moab().get_entities_by_handle(m->meshset, ents, true);
          return ents;
        };
 
        double young_modulus = block_data[0];
        double poisson_ratio = block_data[1];
        double bulk_modulus_K = young_modulus / (3 * (1 - 2 * poisson_ratio));
        double shear_modulus_G = young_modulus / (2 * (1 + poisson_ratio));
 
        MOFEM_TAG_AND_LOG("WORLD", sev, "MatBlock")
            << "E = " << young_modulus << " nu = " << poisson_ratio;
 
        blockData.push_back(
            {bulk_modulus_K, shear_modulus_G, get_block_ents()});
      }
      MOFEM_LOG_CHANNEL("WORLD");
      MoFEMFunctionReturn(0);
    }
 
    MoFEMErrorCode getMatDPtr(boost::shared_ptr<MatrixDouble> mat_D_ptr,
                              double bulk_modulus_K, double shear_modulus_G) {
      MoFEMFunctionBegin;
      //! [Calculate elasticity tensor]
      auto set_material_stiffness = [&]() {
        FTensor::Index<'i', SPACE_DIM> i;
        FTensor::Index<'j', SPACE_DIM> j;
        FTensor::Index<'k', SPACE_DIM> k;
        FTensor::Index<'l', SPACE_DIM> l;
        constexpr auto t_kd = FTensor::Kronecker_Delta_symmetric<int>();
        double A = (SPACE_DIM == 2)
                       ? 2 * shear_modulus_G /
                             (bulk_modulus_K + (4. / 3.) * shear_modulus_G)
                       : 1;
        auto t_D = getFTensor4DdgFromMat<SPACE_DIM, SPACE_DIM, 0>(*mat_D_ptr);
        t_D(i, j, k, l) =
            2 * shear_modulus_G * ((t_kd(i, k) ^ t_kd(j, l)) / 4.) +
            A * (bulk_modulus_K - (2. / 3.) * shear_modulus_G) * t_kd(i, j) *
                t_kd(k, l);
      };
      //! [Calculate elasticity tensor]
      constexpr auto size_symm = (SPACE_DIM * (SPACE_DIM + 1)) / 2;
      mat_D_ptr->resize(size_symm * size_symm, 1);
      set_material_stiffness();
      MoFEMFunctionReturn(0);
    }
  };
 
  double bulk_modulus_K = young_modulus / (3 * (1 - 2 * poisson_ratio));
  double shear_modulus_G = young_modulus / (2 * (1 + poisson_ratio));
  pipeline.push_back(new OpMatBlocks(
      field_name, mat_D_Ptr, bulk_modulus_K, shear_modulus_G, m_field, sev,
 
      // Get blockset using regular expression
      m_field.getInterface<MeshsetsManager>()->getCubitMeshsetPtr(std::regex(
 
          (boost::format("%s(.*)") % block_name).str()
 
              ))
 
          ));
 
  MoFEMFunctionReturn(0);
}