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Overview
Numerical Integration Finite Differences Finite Elements
Terminology 1D FEM 2D FEM 1D output 2D FEM 2D output Dynamic Problem
The University of North Carolina Chapel Hill COMP259-2005
Numerical Integration
Youve already seen simple integration schemes: particle dynamics
In that case, you are trying to solve for position given initial data, a set of forces and masses, etc. Simple Euler rectangle rule Midpoint Euler trapezoid rule Runge-Kutta 4 Simpsons rule
The University of North Carolina Chapel Hill COMP259-2005
Numerical Integration II
However, those techniques really only work for the simplest of problems Note that particles were only influenced by a fixed set of forces and not by other particles, etc. Rigid body dynamics is a step harder, but still quite an easy problem
Calculus shows that you can consider it a particle at its center of mass for most calculations
The University of North Carolina Chapel Hill COMP259-2005
Numerical Integration IV
What I wont go over at all:
How to solve Systems of Equations
Linear Algebra, MATH 191,192,221,222
Finite Differences
This is probably the easiest solution technique Usually computed on a fixed width grid Approximate stencils on the grid with simple differences
Problem Statement 1D
STRONG FORM
Given f: OMEGA R1 and constants g and h Find u: OMEGA R1 such that
uxx + f = 0 ux(at 0) = h u(at 1) = g
(Write this on the board)
Galerkins Approximation
Discretize the space Integrals sums Weighting Function Choices
Constant (used by radiosity) Linear (used by Mueller, me (easier, faster)) Non-Linear (I think this is what Fedkiw uses)
Definitions
wh = SUM(cA*NA) uh = SUM(dA*NA) + g*NA cA, dA, g defined on the nodes NA , uh, wh defined in whole domain Shape Functions
Zoom in
Weve been considering the whole domain, but the key to FEM is the element Zoom in to The Element Point of View
Change of Variables
Integral(f(y)dy)domain = T = Integral(f(PHI(x))*PHIx*dx)domain = S Write this on the board so it makes some sense
Example
Draw even spaced nodes on board
dx = h Each element matrix = (1/h)*[[1 -1] [-1 1]] RHS = (h/6)*[[2 1] [1 2]]
Show Demo
1D FEM
2D FEM 1D output
Heat equation is an example here Linear shape functions on triangles Barycentric coordinates Kappa joins the party
Integral(NAx*Kappa*NBx) If we assume isotropic material, Kappa = K*I
2D Per-Element
This now becomes a 3x3 matrix on both sides
Anyone terribly interested in knowing what it is/how to get it?
Demo
2D FEM - 1D output
2D FEM 2D Out
Deformation in 2D requires 2D output
Need an x and y offset
Doesnt handle rotation properly
Each element now has a 6x6 matrix associated with it Equation becomes
Integral(BAT*D*BB) for Stiffness Matrix BA/B a matrix containing shape function derivatives D A matrix specific to deformation
Contains Lame` Parameters based on Youngs Modulus and Poissons Ratio (Anyone interested?)
The University of North Carolina Chapel Hill COMP259-2005
Demo
2D Deformation
Dynamic Version
The stiffness matrix (K) only gives you the final resting position
Kuxx = f
Demo
2D Dynamic Deformation
Questions