feat: Friction Driver

[jafranc]

Create a FrictionDriver to map states. tau lim wrt displacement jumps and tractions.
As relperm driver under specification of jumps and traction output predicted state and tau limit

<?xml version="1.0" ?>

<Problem>
  <!-- SPHINX_TASK -->
  <Tasks>
  <FrictionDriver
      name="frictionDriver"
      friction="fractureContact0"
      jumpControl="jFunction"
      dJumpControl="djFunction"
      tractionControl="tFunction"
      yTiltAngle="0"
      zTiltAngle="1"
      steps="10"
      simultaneous="1"
      tolJumpN="1e-15"
      tolJumpT="1e-5"
      tolNormalTrac="1e2"
      iterPenNFac="10"
      iterPenTFac="1"
      faceArea="1"
      neighborsVolume="{1,1}"
      neighborsShear="{1e9,1e9}"
      neighborsBulk="{1e7,1e7}"
  </Tasks>
  <!-- SPHINX_TASK_END -->

  <Included>
    <File name="./frictionDriver_base.xml"/>
  </Included>
</Problem>

with base description:

<?xml version="1.0" ?>

<Problem>
  <Events
    maxTime="1">
    <SoloEvent
      name="frictionDriver"
      target="/Tasks/frictionDriver"/>
  </Events>

  <Constitutive>  
    <Coulomb
      name="fractureContact"
      cohesion="0.0e6"
      frictionCoefficient="0.01"/>
  </Constitutiv>

  <Functions>
    <TableFunction
      name="jFunction"
      inputVarNames="{ time }"
      coordinateFiles="{ tables/time.geos }"
      voxelFile="tables/jumps.geos"/>

    <TableFunction
      name="tFunction"
      inputVarNames="{ time }"
      coordinateFiles="{ tables/time.geos }"
      voxelFile="tables/tractions.geos"/>

    <TableFunction
      name="djFunction"
      inputVarNames="{ time }"
      coordinateFiles="{ tables/time.geos }"
      voxelFile="tables/djump.geos"/>
  </Functions>


  <ElementRegions>
    <CellElementRegion
      name="dummy"
      cellBlocks="{ * }"
      materialList="{ dummy }"/>
  </ElementRegions>
</Problem>

Providing the output:

# column 1 = time
# column 2 = traction,normal
# column 3 = traction,tangent1
# column 4 = traction,tangent2
# column 5 = displacement jump,normal
# column 6 = displacement jump,tangent1
# column 7 = displacement jump,tangent2
# column 8 = delta displacement jump,normal
# column 9 = delta displacement jump,tangent1
# column 10 = delta displacement jump,tangent2
# column 11 = encoded constaint (0:converged, 1:stick & gn>0 (opening), 2: interpenetration, 3: stick & gt>lim (disp-sliding), 4: tau>taulim (trac-sliding) )
# column 12 = fracture state (0:stick, 1:slip , 2: new slip, 3: open)
# column 13 = newtraction,normal
# column 14 = newtraction,tangent1
# column 15 = newtraction,tangent2
# column 16 = iterative penalty, normal
# column 17 = iterative penalty, tangent
# column 18 = tau limit
  0.0000e+00 -9.9985e-03 -1.7452e-04  0.0000e+00 -9.9985e-11 -1.7452e-12 -0.0000e+00  0.0000e+00  0.0000e+00  0.0000e+00  4.0000e+00  0.0000e+00 -1.3531e+00 -1.7452e-04  0.0000e+00  1.3433e+10  1.3433e+09  9.9985e-05
  5.0000e-01 -5.4992e-02 -9.5988e-04  0.0000e+00 -9.9985e-11 -1.7452e-12 -0.0000e+00  0.0000e+00  0.0000e+00  0.0000e+00  4.0000e+00  0.0000e+00 -1.3981e+00 -9.5988e-04  0.0000e+00  1.3433e+10  1.3433e+09  5.4992e-04
  1.0000e+00 -9.9985e-02 -1.7452e-03  0.0000e+00 -9.9985e-11 -1.7452e-12 -0.0000e+00  0.0000e+00  0.0000e+00  0.0000e+00  4.0000e+00  0.0000e+00 -1.4431e+00 -1.7452e-03  0.0000e+00  1.3433e+10  1.3433e+09  9.9985e-04
  1.5000e+00 -5.4992e-01 -9.5988e-03  0.0000e+00 -9.9985e-11 -1.7452e-12 -0.0000e+00  0.0000e+00  0.0000e+00  0.0000e+00  4.0000e+00  0.0000e+00 -1.8930e+00 -9.5988e-03  0.0000e+00  1.3433e+10  1.3433e+09  5.4992e-03
  2.0000e+00 -9.9985e-01 -1.7452e-02  0.0000e+00 -9.9985e-11 -1.7452e-12 -0.0000e+00  0.0000e+00  0.0000e+00  0.0000e+00  4.0000e+00  0.0000e+00 -2.3430e+00 -1.7452e-02  0.0000e+00  1.3433e+10  1.3433e+09  9.9985e-03
  2.5000e+00 -5.4992e+00 -9.5988e-02  0.0000e+00 -9.9985e-11 -1.7452e-12 -0.0000e+00  0.0000e+00  0.0000e+00  0.0000e+00  4.0000e+00  2.0000e+00 -6.8423e+00 -9.5988e-02  0.0000e+00  1.3433e+10  1.3433e+09  5.4992e-02
  3.0000e+00 -9.9985e+00 -1.7452e-01  0.0000e+00 -9.9985e-11 -1.7452e-12 -0.0000e+00  0.0000e+00  0.0000e+00  0.0000e+00  4.0000e+00  2.0000e+00 -1.1342e+01 -1.7452e-01  0.0000e+00  1.3433e+10  1.3433e+09  9.9985e-02
  3.5000e+00 -5.4992e+01 -9.5988e-01  0.0000e+00 -9.9985e-11 -1.7452e-12 -0.0000e+00  0.0000e+00  0.0000e+00  0.0000e+00  4.0000e+00  2.0000e+00 -5.6335e+01 -9.5988e-01  0.0000e+00  1.3433e+10  1.3433e+09  5.4992e-01
  4.0000e+00 -9.9985e+01 -1.7452e+00  0.0000e+00 -9.9985e-11 -1.7452e-12 -0.0000e+00  0.0000e+00  0.0000e+00  0.0000e+00  4.0000e+00  2.0000e+00 -1.0133e+02 -1.7452e+00  0.0000e+00  1.3433e+10  1.3433e+09  9.9985e-01
  4.5000e+00 -5.4992e+02 -9.5988e+00  0.0000e+00 -9.9985e-11 -1.7452e-12 -0.0000e+00  0.0000e+00  0.0000e+00  0.0000e+00  4.0000e+00  2.0000e+00 -5.5126e+02 -9.5988e+00  0.0000e+00  1.3433e+10  1.3433e+09  5.4992e+00
  5.0000e+00 -9.9985e+02 -1.7452e+01  0.0000e+00 -9.9985e-11 -1.7452e-12 -0.0000e+00  0.0000e+00  0.0000e+00  0.0000e+00  4.0000e+00  2.0000e+00 -1.0012e+03 -1.7452e+01  0.0000e+00  1.3433e+10  1.3433e+09  9.9985e+00

this allow exposure of the traction's update and fracture state update and action of the tolerances and iterativePenalties.

Caution

It does not include triggering of the contact solver, so it cannot be used (yet) to investigate convergence.