Merge pull request #357 from Exawind/floating_update_optimization

Optimizes System Variable Update for Masses and Springs
Exawind · Feb 26, 2025 · 7f06af7 · 7f06af7
2 parents a68ae74 + d14f934
commit 7f06af7
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Showing 55 changed files with 614 additions and 1,583 deletions.
diff --git a/src/elements/masses/masses.hpp b/src/elements/masses/masses.hpp
@@ -25,30 +25,7 @@ struct Masses {
     View_3 gravity;
 
     Kokkos::View<double* [7]> node_x0;      //< Initial position/rotation
-    Kokkos::View<double* [7]> node_u;       //< State: translation/rotation displacement
-    Kokkos::View<double* [6]> node_u_dot;   //< State: translation/rotation velocity
-    Kokkos::View<double* [6]> node_u_ddot;  //< State: translation/rotation acceleration
-
     Kokkos::View<double* [6][6]> qp_Mstar;  //< Mass matrix in material frame
-    Kokkos::View<double* [7]> qp_x;         //< Current position/orientation
-    Kokkos::View<double* [3]> qp_x0;
-    Kokkos::View<double* [4]> qp_r0;
-    Kokkos::View<double* [3]> qp_u;
-    Kokkos::View<double* [3]> qp_u_ddot;
-    Kokkos::View<double* [4]> qp_r;
-    Kokkos::View<double* [3]> qp_omega;
-    Kokkos::View<double* [3]> qp_omega_dot;
-    Kokkos::View<double* [3][3]> qp_eta_tilde;
-    Kokkos::View<double* [3][3]> qp_omega_tilde;
-    Kokkos::View<double* [3][3]> qp_omega_dot_tilde;
-    Kokkos::View<double* [3]> qp_eta;     //< Offset between mass center and elastic axis
-    Kokkos::View<double* [3][3]> qp_rho;  //< Rotational inertia part of mass matrix
-    Kokkos::View<double* [6]> qp_Fi;      //< Inertial force
-    Kokkos::View<double* [6]> qp_Fg;      //< Gravity force
-    Kokkos::View<double* [6][6]> qp_RR0;  //< Global rotation
-    Kokkos::View<double* [6][6]> qp_Muu;  //< Mass matrix in global/inertial frame
-    Kokkos::View<double* [6][6]> qp_Guu;  //< Gyroscopic/inertial damping matrix
-    Kokkos::View<double* [6][6]> qp_Kuu;  //< Inertia stiffness matrix
 
     Kokkos::View<double* [6]> residual_vector_terms;
     Kokkos::View<double* [6][6]> stiffness_matrix_terms;
@@ -62,29 +39,7 @@ struct Masses {
           element_freedom_table("element_freedom_table", num_elems),
           gravity("gravity"),
           node_x0("node_x0", num_elems),
-          node_u("node_u", num_elems),
-          node_u_dot("node_u_dot", num_elems),
-          node_u_ddot("node_u_ddot", num_elems),
           qp_Mstar("qp_Mstar", num_elems),
-          qp_x("qp_x", num_elems),
-          qp_x0("qp_x0", num_elems),
-          qp_r0("qp_r0", num_elems),
-          qp_u("qp_u", num_elems),
-          qp_u_ddot("qp_u_ddot", num_elems),
-          qp_r("qp_r", num_elems),
-          qp_omega("qp_omega", num_elems),
-          qp_omega_dot("qp_omega_dot", num_elems),
-          qp_eta_tilde("qp_eta_tilde", num_elems),
-          qp_omega_tilde("qp_omega_tilde", num_elems),
-          qp_omega_dot_tilde("qp_omega_dot_tilde", num_elems),
-          qp_eta("qp_eta", num_elems),
-          qp_rho("qp_rho", num_elems),
-          qp_Fi("qp_Fi", num_elems),
-          qp_Fg("qp_Fg", num_elems),
-          qp_RR0("qp_RR0", num_elems),
-          qp_Muu("qp_Muu", num_elems),
-          qp_Guu("qp_Guu", num_elems),
-          qp_Kuu("qp_Kuu", num_elems),
           residual_vector_terms("residual_vector_terms", num_elems),
           stiffness_matrix_terms("stiffness_matrix_terms", num_elems),
           inertia_matrix_terms("inertia_matrix_terms", num_elems) {

diff --git a/src/elements/springs/springs.hpp b/src/elements/springs/springs.hpp
@@ -19,18 +19,9 @@ struct Springs {
     Kokkos::View<FreedomSignature* [2]> element_freedom_signature;
     Kokkos::View<size_t* [2][3]> element_freedom_table;  //< Only translational DOFs for springs
 
-    Kokkos::View<double* [3]> x0;          //< Initial distance vector between nodes
-    Kokkos::View<double* [3]> u1;          //< Displacement of node 1
-    Kokkos::View<double* [3]> u2;          //< Displacement of node 2
-    Kokkos::View<double* [3]> r;           //< Current distance vector between nodes
-    Kokkos::View<double*> l;               //< Current length of springs
-    Kokkos::View<double*> l_ref;           //< Initial length of springs
-    Kokkos::View<double*> k;               //< Spring stiffness coefficients
-    Kokkos::View<double*> c1;              //< First coefficient for force calculation
-    Kokkos::View<double*> c2;              //< Second coefficient for force calculation
-    Kokkos::View<double* [3]> f;           //< Force components
-    Kokkos::View<double* [3][3]> a;        //< Stiffness matrices
-    Kokkos::View<double* [3][3]> r_tilde;  //< Skew-symmetric matrix of r
+    Kokkos::View<double* [3]> x0;  //< Initial distance vector between nodes
+    Kokkos::View<double*> l_ref;   //< Initial length of springs
+    Kokkos::View<double*> k;       //< Spring stiffness coefficients
 
     Kokkos::View<double* [2][3]> residual_vector_terms;
     Kokkos::View<double* [2][2][3][3]> stiffness_matrix_terms;
@@ -42,17 +33,8 @@ struct Springs {
           element_freedom_signature("element_freedom_signature", num_elems),
           element_freedom_table("element_freedom_table", num_elems),
           x0("x0", num_elems),
-          u1("u1", num_elems),
-          u2("u2", num_elems),
-          r("r", num_elems),
-          l("l", num_elems),
           l_ref("l_ref", num_elems),
           k("k", num_elems),
-          c1("c1", num_elems),
-          c2("c2", num_elems),
-          f("f", num_elems),
-          a("a", num_elems),
-          r_tilde("r_tilde", num_elems),
           residual_vector_terms("residual_vector_terms", num_elems),
           stiffness_matrix_terms("stiffness_matrix_terms", num_elems) {
         Kokkos::deep_copy(num_nodes_per_element, 2);  // Always 2 nodes per element

diff --git a/src/step/CMakeLists.txt b/src/step/CMakeLists.txt
@@ -4,17 +4,10 @@ install(FILES
         assemble_constraints_matrix.hpp
         assemble_constraints_residual.hpp
         assemble_inertia_matrix_beams.hpp
-        assemble_inertia_matrix_masses.hpp
         assemble_residual_vector_beams.hpp
-        assemble_residual_vector_masses.hpp
-        assemble_residual_vector_springs.hpp
         assemble_stiffness_matrix_beams.hpp
-        assemble_stiffness_matrix_masses.hpp
-        assemble_stiffness_matrix_springs.hpp
         assemble_system_matrix.hpp
-        assemble_system_residual_beams.hpp
         assemble_system_residual.hpp
-        assemble_system_residual_masses.hpp
         assemble_tangent_operator.hpp
         calculate_convergence_error.hpp
         predict_next_state.hpp

diff --git a/src/step/assemble_inertia_matrix_masses.hpp b/src/step/assemble_inertia_matrix_masses.hpp
diff --git a/src/step/assemble_residual_vector_masses.hpp b/src/step/assemble_residual_vector_masses.hpp
diff --git a/src/step/assemble_residual_vector_springs.hpp b/src/step/assemble_residual_vector_springs.hpp
diff --git a/src/step/assemble_stiffness_matrix_masses.hpp b/src/step/assemble_stiffness_matrix_masses.hpp
diff --git a/src/step/assemble_stiffness_matrix_springs.hpp b/src/step/assemble_stiffness_matrix_springs.hpp
diff --git a/src/step/assemble_system_residual_beams.hpp b/src/step/assemble_system_residual_beams.hpp
diff --git a/src/step/assemble_system_residual_masses.hpp b/src/step/assemble_system_residual_masses.hpp