model: nonlinear static steps and neo-Hookean hyperelasticity, mapped by the deck writers

A nonlinear_static procedure (nonlinear geometry, initial/min/max increments,
increment and iteration caps, force/displacement/energy tolerances, line
search), validated with caps against hostile values. Materials gain an
explicit hyperelastic option (decoupled compressible neo-Hookean on the
isotropic constants). Abaqus writes *STEP, NLGEOM, INC / *STATIC with the
increments and *HYPERELASTIC, NEO HOOKE; LS-DYNA writes the ramped implicit
run with full Newton and *CONTROL_IMPLICIT_AUTO; Nastran refuses SOL 400 by
name, as LS-DYNA does hyperelastic materials in nonlinear steps. Explicit
dynamics refuses hyperelastic materials by name; solve.run names the solver
still to come.

Co-Authored-By: Claude Opus 5.5 <[email protected]>
Claude-Session: https://claude.ai/code/session_01NmAttHhUZTokgPeEJia8sm

crates/decks/src/abaqus.rs

@@ -30,7 +30,14 @@
 //! - a frequency step is a perturbation of the last general step: its boundary conditions are
 //!   written against that base state and do not carry on to later steps; loads have no effect on
 //!   natural frequencies and are not written in it;
-//! - every step restates its output request (`*OUTPUT, FIELD, OP=NEW`).
+//! - every step restates its output request (`*OUTPUT, FIELD, OP=NEW`);
+//! - a nonlinear static step is `*STEP, NLGEOM=YES` (or `NO` without nonlinear geometry) with
+//!   `INC=` its increment cap, `*STATIC` with its initial, minimum and maximum increments over a
+//!   step period of 1, and `*CONTROLS, PARAMETERS=LINE SEARCH` when it searches; its iteration cap
+//!   and tolerances are left to Abaqus's controls, whose residual norms are defined differently.
+//!   Abaqus starts each general step from the end of the previous one, while every model step
+//!   starts from the undeformed state; for elastic materials the end state depends on the final
+//!   loads alone, so the two agree.
 //!
 //! # Loads
 //!
@@ -96,7 +103,10 @@
 //!
 //! # Materials
 //!
-//! Isotropic elasticity is `*ELASTIC, TYPE=ISOTROPIC`, engineering constants
+//! Isotropic elasticity is `*ELASTIC, TYPE=ISOTROPIC` (or, for a neo-Hookean material in a deck
+//! with nonlinear steps, `*HYPERELASTIC, NEO HOOKE` with C₁₀ = μ/2 and D₁ = 2/κ, the same strain
+//! energy; a linear static step is then refused, since Abaqus's general static step would apply
+//! the hyperelastic law), engineering constants
 //! `TYPE=ENGINEERING CONSTANTS`, density `*DENSITY`. Von Mises plasticity is `*PLASTIC`: a
 //! hardening table as its (yield stress, plastic strain) lines; bilinear isotropic hardening as
 //! two lines, the second at a plastic strain of [`BILINEAR_REACH`] (Abaqus holds the last yield
@@ -219,6 +229,12 @@ pub fn element_type(kind: ElementKind, section: &Section) -> std::result::Result
     Ok(if f.hybrid { format!("{plain}H") } else { plain.to_string() })
 }
 
+/// Whether the model has a nonlinear static step: hyperelastic materials are then written as
+/// `*HYPERELASTIC` (in a deck of linear steps their elastic constants are the whole of it).
+fn has_nonlinear_step(model: &Model) -> bool {
+    model.steps().iter().any(|s| matches!(s.procedure, Procedure::NonlinearStatic(_)))
+}
+
 /// Every element, grouped by element type (from its section) and sorted by label.
 fn elements_by_type<'m>(model: &'m Model, r: &Resolved) -> Result<BTreeMap<String, Vec<(u32, &'m Element)>>> {
     let mut by_type: BTreeMap<String, Vec<(u32, &Element)>> = BTreeMap::new();
@@ -287,6 +303,16 @@ fn check_expressible(model: &Model) -> Result<()> {
     for step in model.steps().iter().filter(|s| matches!(s.procedure, Procedure::ExplicitDynamic(_))) {
         bad.insert(format!("step `{}`: explicit dynamic steps (not written to Abaqus input yet)", step.name));
     }
+    if has_nonlinear_step(model)
+        && let Some(material) = model.hyperelastic_in_use().into_iter().next()
+    {
+        for step in model.steps().iter().filter(|s| matches!(s.procedure, Procedure::Static {})) {
+            bad.insert(format!(
+                "step `{}`: a linear static step beside nonlinear steps of hyperelastic material `{material}` (Abaqus's general static step applies the hyperelastic law; write the linear step to its own deck)",
+                step.name
+            ));
+        }
+    }
     for (name, m) in model.materials() {
         if m.damage.is_some() || m.erosion.is_some() {
             bad.insert(format!(
@@ -759,6 +785,12 @@ impl Deck {
         for (name, m) in model.materials() {
             self.line(&format!("*MATERIAL, NAME={name}"));
             match m.elastic {
+                Some(Elastic::Isotropic { young, poisson }) if m.hyperelastic.is_some() && has_nonlinear_step(model) => {
+                    // W = C10 (Ī1 − 3) + (J − 1)²/D1 with C10 = μ/2 and D1 = 2/κ.
+                    let (shear, bulk) = fieldcraft_model::Hyperelastic::moduli(young, poisson);
+                    self.line("*HYPERELASTIC, NEO HOOKE");
+                    self.numbers_line("", &[shear / 2.0, 2.0 / bulk])?;
+                }
                 Some(Elastic::Isotropic { young, poisson }) => {
                     self.line("*ELASTIC, TYPE=ISOTROPIC");
                     self.numbers_line("", &[young, poisson])?;
@@ -1038,10 +1070,22 @@ impl Deck {
             self.comment(&format!("Step {}", step.name));
             match step.procedure {
                 Procedure::Fluid { .. } => return Err(crate::fluid_step(FORMAT, &step.name)),
-                Procedure::Static {} => {
-                    self.line(&format!("*STEP, NAME={}, NLGEOM=NO", step.name));
-                    self.line("*STATIC");
-                    self.line("1.0, 1.0");
+                Procedure::Static {} | Procedure::NonlinearStatic(_) => {
+                    if let Procedure::NonlinearStatic(n) = &step.procedure {
+                        let nlgeom = if n.nonlinear_geometry { "YES" } else { "NO" };
+                        self.line(&format!("*STEP, NAME={}, NLGEOM={nlgeom}, INC={}", step.name, n.max_increments));
+                        self.line("*STATIC");
+                        self.numbers_line("", &[n.initial_increment, 1.0, n.min_increment, n.max_increment])?;
+                        if n.line_search {
+                            self.line("*CONTROLS, PARAMETERS=LINE SEARCH");
+                            self.line("5,");
+                        }
+                        self.comment("iterations and convergence: Abaqus's own controls (its residual norms differ from FieldCraft's)");
+                    } else {
+                        self.line(&format!("*STEP, NAME={}, NLGEOM=NO", step.name));
+                        self.line("*STATIC");
+                        self.line("1.0, 1.0");
+                    }
                     self.step_boundaries(model, r, &base_bcs, &step.boundary_conditions)?;
                     if step.loads == base_loads {
                         self.comment("loads: as in the previous general step");

crates/decks/src/lsdyna/mod.rs

@@ -24,7 +24,13 @@
 //!   the set's translations, equal weights);
 //! - per step: `*CONTROL_IMPLICIT_GENERAL`, `*CONTROL_IMPLICIT_SOLUTION` (linear) or
 //!   `*CONTROL_IMPLICIT_EIGENVALUE`, `*CONTROL_TERMINATION` (a static step is one implicit step
-//!   from time 0 to 1 with every load ramped by one curve, `*DEFINE_CURVE`); boundary conditions
+//!   from time 0 to 1 with every load ramped by one curve, `*DEFINE_CURVE`); a nonlinear static
+//!   step runs over the same time with the same ramp, its first increment as `dt0`, the nonlinear
+//!   solver with a stiffness reformation every iteration (`ilimit` 1, full Newton) and its
+//!   iteration cap as `maxref`, and `*CONTROL_IMPLICIT_AUTO` with its minimum and maximum
+//!   increments (its increment cap and tolerances have no LS-DYNA counterpart and are left to
+//!   LS-DYNA's defaults; a step without nonlinear geometry and hyperelastic materials in nonlinear
+//!   steps are refused); boundary conditions
 //!   as `*BOUNDARY_SPC_*_ID` (named) and `*BOUNDARY_PRESCRIBED_MOTION_*_ID` for non-zero
 //!   displacements; forces, moments and tractions as `*LOAD_NODE_SET`/`_POINT` from the
 //!   resolved nodal values; pressure as `*LOAD_SEGMENT_SET`; gravity as `*LOAD_BODY_X/Y/Z`
@@ -267,7 +273,21 @@ fn plan<'a>(model: &'a Model, r: &Resolved) -> Result<Plan<'a>> {
         if matches!(step.procedure, Procedure::ExplicitDynamic(_)) {
             refused.insert(format!("step `{}`: explicit dynamic steps (this writer writes implicit analyses so far)", step.name));
         }
-        let is_static = matches!(step.procedure, Procedure::Static {});
+        if let Procedure::NonlinearStatic(n) = &step.procedure {
+            if !n.nonlinear_geometry {
+                refused.insert(format!(
+                    "step `{}`: a nonlinear step without nonlinear geometry (LS-DYNA's nonlinear implicit analysis always follows the deformed shape)",
+                    step.name
+                ));
+            }
+            for material in model.hyperelastic_in_use() {
+                refused.insert(format!(
+                    "step `{}`: hyperelastic material `{material}` in a nonlinear step (LS-DYNA's rubber materials define their volumetric energy differently; not written yet)",
+                    step.name
+                ));
+            }
+        }
+        let is_static = matches!(step.procedure, Procedure::Static {} | Procedure::NonlinearStatic(_));
         for b in &step.boundary_conditions {
             let Some(bc) = model.boundary_conditions().get(b) else { continue };
             match bc.target() {
@@ -793,18 +813,29 @@ fn dof_code(dof: u8) -> i32 {
 fn write_step(d: &mut Deck, model: &Model, r: &Resolved, plan: &Plan, step: &Step, n: u32, constraint_id: &mut u32) -> Result<()> {
     d.line("*TITLE");
     d.line(&step.name);
-    let is_static = matches!(step.procedure, Procedure::Static {});
+    let is_static = matches!(step.procedure, Procedure::Static {} | Procedure::NonlinearStatic(_));
+    let first_increment = if let Procedure::NonlinearStatic(n) = &step.procedure { n.initial_increment } else { 1.0 };
     d.line("*CONTROL_IMPLICIT_GENERAL");
     d.header(&["imflag", "dt0"]);
-    d.card([Field::from(1), Field::from(1.0)]);
-    match step.procedure {
+    d.card([Field::from(1), Field::from(first_increment)]);
+    match &step.procedure {
         Procedure::Fluid { .. } => return Err(crate::fluid_step(FORMAT, &step.name)),
         Procedure::Static {} => {
             d.line("*CONTROL_IMPLICIT_SOLUTION");
             d.header(&["nsolvr"]);
             d.card([Field::from(1)]);
         }
-        Procedure::Frequency { modes, min_hz, max_hz } => {
+        Procedure::NonlinearStatic(n) => {
+            // Nonlinear with a stiffness reformation every iteration (full Newton), at most
+            // `max_iterations` per increment; LS-DYNA's own convergence norms and line search.
+            d.line("*CONTROL_IMPLICIT_SOLUTION");
+            d.header(&["nsolvr", "ilimit", "maxref"]);
+            d.card([Field::from(2), Field::from(1), Field::from(n.max_iterations)]);
+            d.line("*CONTROL_IMPLICIT_AUTO");
+            d.header(&["iauto", "iteopt", "itewin", "dtmin", "dtmax"]);
+            d.card([Field::from(1), Field::Blank, Field::Blank, Field::from(n.min_increment), Field::from(n.max_increment)]);
+        }
+        &Procedure::Frequency { modes, min_hz, max_hz } => {
             d.line("*CONTROL_IMPLICIT_EIGENVALUE");
             d.header(&["neig", "center", "lflag", "lftend", "rflag", "rhtend"]);
             let bound = |b: Option<f64>| match b {

crates/decks/src/nastran/mod.rs

@@ -280,6 +280,9 @@ fn solution(steps: &[&Step]) -> std::result::Result<u32, String> {
     if let Some(s) = steps.iter().find(|s| matches!(s.procedure, Procedure::ExplicitDynamic(_))) {
         return Err(format!("step `{}`: explicit dynamic steps (Nastran's linear solutions have none)", s.name));
     }
+    if let Some(s) = steps.iter().find(|s| matches!(s.procedure, Procedure::NonlinearStatic(_))) {
+        return Err(format!("step `{}`: nonlinear static steps (Nastran's SOL 400; this writer writes SOL 101 and 103 so far)", s.name));
+    }
     let statics = steps.iter().find(|s| matches!(s.procedure, Procedure::Static {}));
     let modes = steps.iter().find(|s| matches!(s.procedure, Procedure::Frequency { .. }));
     match (statics, modes) {

crates/decks/tests/abaqus.rs

@@ -753,3 +753,45 @@ fn plasticity_is_written_and_failure_reported() {
     let Err(Error::Unsupported { what, .. }) = abaqus::write(&failing) else { panic!("damage is not written") };
     assert!(what.contains("material `Steel`: damage and erosion"), "{what}");
 }
+
+/// A nonlinear static step is a general step with NLGEOM, its increments and its line search; a
+/// neo-Hookean material is then `*HYPERELASTIC` and a linear static step beside it is refused.
+#[test]
+fn nonlinear_steps_and_hyperelastic_materials_are_written() {
+    use fieldcraft_model::{Hyperelastic, NonlinearStatic};
+    let mut m = cantilever();
+    let controls = NonlinearStatic {
+        initial_increment: 0.05,
+        min_increment: 1e-4,
+        max_increment: 0.5,
+        max_increments: 40,
+        line_search: true,
+        ..NonlinearStatic::default()
+    };
+    m.replace_step(step("Bend", Procedure::NonlinearStatic(controls.clone()), &["clamp"], &["end"])).unwrap();
+    let deck = abaqus::write(&m).unwrap();
+    let bend = block(&deck, "Bend");
+    assert_eq!(bend.first(), Some(&"*STEP, NAME=Bend, NLGEOM=YES, INC=40"), "{bend:?}");
+    let at = bend.iter().position(|l| *l == "*STATIC").unwrap();
+    assert_eq!(bend.get(at + 1..at + 4), Some(&["0.05, 1.0, 0.0001, 0.5", "*CONTROLS, PARAMETERS=LINE SEARCH", "5,"][..]), "{bend:?}");
+    assert!(deck.contains("*ELASTIC, TYPE=ISOTROPIC\n210000.0, 0.3\n"), "St Venant–Kirchhoff is the elastic material");
+
+    let small = NonlinearStatic { nonlinear_geometry: false, line_search: false, ..controls };
+    m.replace_step(step("Bend", Procedure::NonlinearStatic(small), &["clamp"], &["end"])).unwrap();
+    m.replace_material("Steel", Material { hyperelastic: Some(Hyperelastic::NeoHookean {}), ..steel() }).unwrap();
+    let deck = abaqus::write(&m).unwrap();
+    let bend = block(&deck, "Bend");
+    assert_eq!(bend.first(), Some(&"*STEP, NAME=Bend, NLGEOM=NO, INC=40"), "{bend:?}");
+    assert!(!bend.iter().any(|l| l.starts_with("*CONTROLS")), "{bend:?}");
+    // μ = E/(2(1 + ν)) = 80769.23…, κ = E/(3(1 − 2ν)) = 175000: C10 = μ/2, D1 = 2/κ.
+    let (c10, d1) = (210_000.0 / 2.6 / 2.0, 2.0 / 175_000.0);
+    let line = deck.split("*HYPERELASTIC, NEO HOOKE\n").nth(1).and_then(|s| s.lines().next()).unwrap();
+    let values: Vec<f64> = line.split(", ").map(|v| v.parse().unwrap()).collect();
+    assert!((values[0] - c10).abs() < 1e-9 * c10 && (values[1] - d1).abs() < 1e-9 * d1, "{line}");
+    assert!(!deck.contains("*ELASTIC"), "{deck}");
+
+    m.add_step(step("Linear", Procedure::Static {}, &["clamp"], &["end"]), None).unwrap();
+    assert!(unsupported(&m).contains("step `Linear`: a linear static step beside nonlinear steps of hyperelastic material `Steel`"));
+    m.remove_step("Bend").unwrap();
+    assert!(abaqus::write(&m).unwrap().contains("*ELASTIC, TYPE=ISOTROPIC\n"), "with linear steps only, the elastic constants are the whole of it");
+}

crates/decks/tests/lsdyna.rs

@@ -737,3 +737,37 @@ fn plasticity_is_written_as_plastic_materials() {
     let Err(Error::Unsupported { what, .. }) = lsdyna::write(&with(jc, None)) else { panic!() };
     assert!(what.contains("Johnson–Cook"), "{what}");
 }
+
+/// A nonlinear static step: the ramped implicit run with full Newton and automatic increments;
+/// what LS-DYNA cannot take is named.
+#[test]
+fn nonlinear_static_steps() {
+    let mut m = cantilever();
+    let controls =
+        NonlinearStatic { initial_increment: 0.05, min_increment: 1e-4, max_increment: 0.5, max_iterations: 12, ..NonlinearStatic::default() };
+    m.replace_step(step("Bend", Procedure::NonlinearStatic(controls.clone()), &["clamp"], &["tip_load"])).unwrap();
+    let deck = lsdyna::write(&m).unwrap().text;
+    let after = |keyword: &str| -> Vec<String> {
+        let mut lines = deck.lines().skip_while(|l| *l != keyword).skip(1).filter(|l| !l.starts_with('$'));
+        lines.next().unwrap().split_whitespace().map(str::to_string).collect()
+    };
+    let num = |s: &String| s.parse::<f64>().unwrap();
+    let general = after("*CONTROL_IMPLICIT_GENERAL");
+    assert_eq!((num(&general[0]), num(&general[1])), (1.0, 0.05), "{general:?}");
+    let solution = after("*CONTROL_IMPLICIT_SOLUTION");
+    assert_eq!(solution.iter().map(num).collect::<Vec<_>>(), [2.0, 1.0, 12.0], "{solution:?}");
+    let auto = after("*CONTROL_IMPLICIT_AUTO");
+    assert_eq!(auto.iter().map(num).collect::<Vec<_>>(), [1.0, 1e-4, 0.5], "blank fields are skipped: {auto:?}");
+    assert!(deck.contains("*DEFINE_CURVE_TITLE\nBend ramp\n"), "the loads follow the ramp");
+    assert!(deck.contains("*LOAD_NODE"), "{deck}");
+
+    m.replace_step(step("Bend", Procedure::NonlinearStatic(NonlinearStatic { nonlinear_geometry: false, ..controls }), &["clamp"], &["tip_load"]))
+        .unwrap();
+    unsupported(&m, "a nonlinear step without nonlinear geometry");
+    m.replace_step(step("Bend", Procedure::NonlinearStatic(NonlinearStatic::default()), &["clamp"], &["tip_load"])).unwrap();
+    m.replace_material("Steel", Material { hyperelastic: Some(Hyperelastic::NeoHookean {}), ..steel() }).unwrap();
+    unsupported(&m, "hyperelastic material `Steel` in a nonlinear step");
+    // In a linear step the elastic constants are the whole of a hyperelastic material.
+    m.replace_step(step("Bend", Procedure::Static {}, &["clamp"], &["tip_load"])).unwrap();
+    assert!(lsdyna::write(&m).unwrap().text.contains("*MAT_ELASTIC_TITLE"));
+}

crates/decks/tests/nastran.rs

@@ -782,3 +782,13 @@ fn plasticity_is_written_as_mats1() {
     let Err(Error::Unsupported { what, .. }) = nastran::write(&m) else { panic!() };
     assert!(what.contains("Johnson–Cook plasticity") && what.contains("damage and erosion"), "{what}");
 }
+
+#[test]
+fn nonlinear_static_steps_are_refused_by_name() {
+    let mut m = cantilever();
+    let name = m.steps()[0].name.clone();
+    let mut s = m.steps()[0].clone();
+    s.set_procedure(Procedure::NonlinearStatic(fieldcraft_model::NonlinearStatic::default()));
+    m.replace_step(s).unwrap();
+    assert!(unsupported(&m).contains(&format!("step `{name}`: nonlinear static steps (Nastran's SOL 400")), "{}", unsupported(&m));
+}

crates/engine/src/cmd/define.rs

@@ -81,7 +81,7 @@ definition_commands!(
     Material,
     "material",
     "Material",
-    r#"{"name": "Steel", "elastic": {"type": "isotropic", "young": 210000, "poisson": 0.3} | {"type": "engineering_constants", "young": [E1, E2, E3], "poisson": [ν12, ν13, ν23], "shear": [G12, G13, G23]}, "density": 7.85e-9, "fluid": {"type": "newtonian", "viscosity": 1.0e-9} (dynamic viscosity; a fluid needs a density), "plastic": {…} (see model.material.plasticity), "damage": {…}, "erosion": {…} (see model.material.damage)} — in the model's unit system (model.units), never converted"#,
+    r#"{"name": "Steel", "elastic": {"type": "isotropic", "young": 210000, "poisson": 0.3} | {"type": "engineering_constants", "young": [E1, E2, E3], "poisson": [ν12, ν13, ν23], "shear": [G12, G13, G23]}, "density": 7.85e-9, "fluid": {"type": "newtonian", "viscosity": 1.0e-9} (dynamic viscosity; a fluid needs a density), "plastic": {…} (see model.material.plasticity), "damage": {…}, "erosion": {…} (see model.material.damage), "hyperelastic": {"type": "neo_hookean"} (large strain in nonlinear steps, from the isotropic constants: μ = E/(2(1 + ν)), κ = E/(3(1 − 2ν)); without it an elastic material is St Venant–Kirchhoff there)} — in the model's unit system (model.units), never converted"#,
     add_material,
     replace_material,
     remove_material,
@@ -266,7 +266,7 @@ fn fluid_boundary(s: &mut Session, p: &Value) -> Result<Value> {
 pub const STEP_CREATE: CommandSpec = CommandSpec {
     id: "model.step.create",
     label: "New Step",
-    params: r#"{"name": "Bend", "procedure": {"type": "static"} | {"type": "frequency", "modes": 10, "min_hz": 0, "max_hz": 500} | {"type": "fluid", "domain": "Flow", "end_time": 1.0 | "steps": 1000, "time_step": (default: chosen for Mach 0.087 and τ ≤ 1), "frames": 10, "magic": 0.1875 (the two-relaxation-time Λ)} | {"type": "explicit_dynamic", "end_time": 0.001, "dt_scale": 0.9, "max_increments": 10000000, "output_interval", "history_interval", "history_nodes": "set", "initial_velocities": [{"set", "velocity": [vx, vy, vz]}], "rigid_walls": [{"set", "point", "normal"}], "hourglass": {"type": "viscous|stiffness", "coefficient": 0.1}, "bulk_viscosity": {"linear": 0.06, "quadratic": 1.5}}, "output": ["displacement", "reaction_force", "stress", "strain"] (default by procedure), "boundary_conditions": [names], "loads": [names] (active in this step; nothing carries over between steps), "before": "step" (default: last)}"#,
+    params: r#"{"name": "Bend", "procedure": {"type": "static"} | {"type": "nonlinear_static", "nonlinear_geometry": true, "initial_increment": 0.1, "min_increment": 1e-5, "max_increment": 1.0 (fractions of the step), "max_increments": 100, "max_iterations": 16 (per increment), "tolerances": {"force": 1e-6, "displacement": 1e-5, "energy": 1e-10}, "line_search": false} (loads and prescribed displacements ramp with the load factor from 0 to 1) | {"type": "frequency", "modes": 10, "min_hz": 0, "max_hz": 500} | {"type": "fluid", "domain": "Flow", "end_time": 1.0 | "steps": 1000, "time_step": (default: chosen for Mach 0.087 and τ ≤ 1), "frames": 10, "magic": 0.1875 (the two-relaxation-time Λ)} | {"type": "explicit_dynamic", "end_time": 0.001, "dt_scale": 0.9, "max_increments": 10000000, "output_interval", "history_interval", "history_nodes": "set", "initial_velocities": [{"set", "velocity": [vx, vy, vz]}], "rigid_walls": [{"set", "point", "normal"}], "hourglass": {"type": "viscous|stiffness", "coefficient": 0.1}, "bulk_viscosity": {"linear": 0.06, "quadratic": 1.5}}, "output": ["displacement", "reaction_force", "stress", "strain"] (default by procedure), "boundary_conditions": [names], "loads": [names] (active in this step; nothing carries over between steps), "before": "step" (default: last)}"#,
     kind: CommandKind::Model,
     run: step_create,
 };

crates/engine/src/cmd/solve.rs

@@ -142,6 +142,7 @@ fn run_all(s: &mut Session, _: &Value) -> Result<Value> {
                 Procedure::Frequency { .. } => run_frequency,
                 Procedure::ExplicitDynamic(_) => run_explicit,
                 Procedure::Fluid { .. } => run_fluid,
+                Procedure::NonlinearStatic(_) => run_nonlinear,
             };
             (st.name.clone(), st.procedure.name(), solve)
         })
@@ -193,6 +194,10 @@ fn run_static(s: &mut Session, p: &Value) -> Result<Value> {
     Ok(summary)
 }
 
+fn run_nonlinear(_: &mut Session, _: &Value) -> Result<Value> {
+    Err(EngineError::Params("not supported yet: nonlinear static steps (the nonlinear solver arrives with solve.nonlinear)".into()))
+}
+
 fn run_heat(s: &mut Session, p: &Value) -> Result<Value> {
     let limits = limits(p)?;
     let step = opt::<String>(p, "step")?;

crates/explicit/src/system.rs

@@ -139,6 +139,9 @@ fn invalid(m: impl Into<String>) -> Error {
 fn material(model: &Model, name: &str) -> Result<Material> {
     let m = model.material(name).ok_or_else(|| invalid(format!("material `{name}` is missing")))?;
     let elastic = m.elastic.as_ref().ok_or_else(|| invalid(format!("material `{name}` has no elastic constants")))?;
+    if let Some(h) = m.hyperelastic {
+        return Err(Error::NotSupported(format!("{} hyperelastic material `{name}` in explicit dynamics", h.name())));
+    }
     let density = m
         .density
         .filter(|d| *d > 0.0 && d.is_finite())

crates/model/src/check.rs

@@ -322,6 +322,7 @@ impl Model {
                     Procedure::ExplicitDynamic(_) => "is dynamic",
                     Procedure::HeatTransfer { transient: Some(_) } => "is transient heat transfer",
                     Procedure::Static {}
+                    | Procedure::NonlinearStatic(_)
                     | Procedure::Fluid { .. }
                     | Procedure::HeatTransfer { transient: None }
                     | Procedure::CoupledTemperatureDisplacement {} => {
@@ -469,7 +470,7 @@ impl Model {
                 }
             }
             match &s.procedure {
-                Procedure::Static {} => {
+                Procedure::Static {} | Procedure::NonlinearStatic(_) => {
                     if s.loads.is_empty() && !prescribes_motion {
                         d.warning(&subject, "nothing loads the model in this step");
                     }

crates/model/src/lib.rs

@@ -57,12 +57,13 @@ pub use discrete::{Direction, Mass, PointMass, ResolvedDirection, ResolvedMass,
 pub use fluids::{BoxFace, BoxFaces, FaceCondition, FluidBoundary, FluidDomain, Profile, SurfaceBoundary, SurfaceCondition};
 pub use geometry::{Classification, Entity, GeometryRef};
 pub use loads::{Distribution, Load, centrifugal_acceleration};
-pub use materials::{Damage, Directional, Elastic, Erosion, Fluid, Hardening, HardeningPoint, Material, Plastic, Thermal};
+pub use materials::{Damage, Directional, Elastic, Erosion, Fluid, Hardening, HardeningPoint, Hyperelastic, Material, Plastic, Thermal};
 pub use mesh::{Element, ElementEdge, ElementFace, ElementKind, Node, check_coordinates};
 pub use sections::{BeamProfile, Extent, Formulation, Integration, Section, SectionKind};
 pub use sets::Set;
 pub use steps::{
-    BulkViscosity, ExplicitDynamic, Hourglass, HourglassKind, InitialVelocity, OutputVariable, Procedure, RigidWall, Step, StressRate, Transient,
+    BulkViscosity, ExplicitDynamic, Hourglass, HourglassKind, InitialVelocity, MAX_NONLINEAR_INCREMENTS, MAX_NONLINEAR_ITERATIONS, NonlinearStatic,
+    OutputVariable, Procedure, RigidWall, Step, StressRate, Tolerances, Transient,
 };
 pub use units::UnitSystem;
 

crates/model/src/materials.rs

@@ -74,6 +74,37 @@ impl Elastic {
     }
 }
 
+/// Hyperelastic behaviour of an isotropic material at large strain, in nonlinear steps.
+///
+/// The constants are the material's isotropic elastic ones: the shear modulus μ = E / (2(1 + ν))
+/// and the bulk modulus κ = E / (3(1 − 2ν)), so at small strain the material is that linear
+/// elastic one (linear steps use it so). Without this option an elastic material in a nonlinear
+/// step is St Venant–Kirchhoff (the second Piola–Kirchhoff stress linear in the Green–Lagrange
+/// strain), which is right for large rotations with small strains.
+#[derive(Debug, Clone, Copy, PartialEq, Serialize, Deserialize)]
+#[serde(tag = "type", rename_all = "snake_case", deny_unknown_fields)]
+pub enum Hyperelastic {
+    /// Compressible neo-Hookean with the isochoric–volumetric split: the strain energy per
+    /// reference volume W = μ/2 (Ī₁ − 3) + κ/2 (J − 1)², with Ī₁ = J^(−2/3) tr C (C₁₀ = μ/2,
+    /// D₁ = 2/κ in the usual polynomial notation).
+    NeoHookean {},
+}
+
+impl Hyperelastic {
+    /// The shear and bulk moduli μ = E / (2(1 + ν)) and κ = E / (3(1 − 2ν)) the model takes from
+    /// the isotropic constants.
+    pub fn moduli(young: f64, poisson: f64) -> (f64, f64) {
+        (young / (2.0 * (1.0 + poisson)), young / (3.0 * (1.0 - 2.0 * poisson)))
+    }
+
+    /// The name of the model, for messages.
+    pub fn name(&self) -> &'static str {
+        match self {
+            Hyperelastic::NeoHookean {} => "neo-Hookean",
+        }
+    }
+}
+
 /// Fluid behaviour.
 #[derive(Debug, Clone, Copy, PartialEq, Serialize, Deserialize)]
 #[serde(tag = "type", rename_all = "snake_case", deny_unknown_fields)]
@@ -332,6 +363,9 @@ pub struct Erosion {
 pub struct Material {
     #[serde(default, skip_serializing_if = "Option::is_none")]
     pub elastic: Option<Elastic>,
+    /// Large-strain behaviour in nonlinear steps, built on the isotropic elastic constants.
+    #[serde(default, skip_serializing_if = "Option::is_none")]
+    pub hyperelastic: Option<Hyperelastic>,
     /// Mass per volume, needed by frequency steps, gravity and transient heat transfer.
     #[serde(default, skip_serializing_if = "Option::is_none")]
     pub density: Option<f64>,
@@ -366,6 +400,14 @@ impl Material {
         if let Some(e) = &self.elastic {
             e.validate()?;
         }
+        if let Some(h) = &self.hyperelastic {
+            if !matches!(self.elastic, Some(Elastic::Isotropic { .. })) {
+                return Err(Error::Invalid(format!("{} hyperelasticity needs isotropic elastic constants", h.name())));
+            }
+            if self.plastic.is_some() {
+                return Err(Error::Invalid(format!("plasticity of a {} hyperelastic material is not supported yet", h.name())));
+            }
+        }
         if let Some(d) = self.density {
             positive("density", d)?;
         }
@@ -412,6 +454,11 @@ impl Model {
         self.materials.get(name)
     }
 
+    /// The hyperelastic materials some section uses, by name.
+    pub fn hyperelastic_in_use(&self) -> std::collections::BTreeSet<&str> {
+        self.sections.values().map(|s| s.material.as_str()).filter(|m| self.material(m).is_some_and(|m| m.hyperelastic.is_some())).collect()
+    }
+
     pub fn add_material(&mut self, name: &str, material: Material) -> Result<()> {
         material.validate().map_err(|e| context("material", name, e))?;
         insert_new(&mut self.materials, "material", name, material)
@@ -544,6 +591,25 @@ mod tests {
         assert_eq!(serde_json::from_str::<Material>(&text).unwrap(), Material { plastic: Some(jc()), damage: Some(damage), ..steel() });
     }
 
+    #[test]
+    fn hyperelasticity_builds_on_isotropic_constants() {
+        let m: Material = serde_json::from_value(serde_json::json!({
+            "elastic": {"type": "isotropic", "young": 3.0, "poisson": 0.49}, "hyperelastic": {"type": "neo_hookean"}
+        }))
+        .unwrap();
+        m.validate().unwrap();
+        assert_eq!(m.hyperelastic, Some(Hyperelastic::NeoHookean {}));
+        let back: Material = serde_json::from_value(serde_json::to_value(&m).unwrap()).unwrap();
+        assert_eq!(back, m);
+        assert!(serde_json::from_value::<Material>(serde_json::json!({"hyperelastic": {"type": "neo_hookean", "c10": 1}})).is_err());
+        let alone = Material { hyperelastic: Some(Hyperelastic::NeoHookean {}), density: Some(1.0), ..Material::default() };
+        assert!(alone.validate().is_err(), "needs isotropic constants");
+        let ortho = Elastic::EngineeringConstants { young: [1.0; 3], poisson: [0.0; 3], shear: [1.0; 3] };
+        assert!(Material { elastic: Some(ortho), ..alone }.validate().is_err());
+        let plastic = Plastic::Bilinear { yield_stress: 1.0, hardening_modulus: 0.0, hardening: Hardening::Isotropic };
+        assert!(Material { plastic: Some(plastic), ..m }.validate().is_err());
+    }
+
     #[test]
     fn thermal_properties() {
         let m: Material = serde_json::from_value(serde_json::json!({

crates/model/src/steps.rs

@@ -86,6 +86,114 @@ pub enum Procedure {
     /// Steady heat conduction and the static equilibrium of the thermal strains it causes,
     /// together: every boundary condition and load of the step acts.
     CoupledTemperatureDisplacement {},
+    /// Static equilibrium followed in load increments with Newton–Raphson iterations: large
+    /// displacements, rotations and strains (`nonlinear_geometry`), hyperelastic materials and
+    /// follower pressure. Loads and prescribed displacements grow in proportion to the step's
+    /// load factor, from 0 to 1.
+    NonlinearStatic(NonlinearStatic),
+}
+
+/// Most load increments a nonlinear static step may take.
+pub const MAX_NONLINEAR_INCREMENTS: u32 = 100_000;
+
+/// Most Newton iterations a nonlinear static step may take in one increment.
+pub const MAX_NONLINEAR_ITERATIONS: u32 = 1000;
+
+/// The settings of a nonlinear static step.
+///
+/// The step's load factor λ runs from 0 to 1: every load is λ times its value and every
+/// prescribed displacement λ times its value (a linear ramp). Increments are fractions of the
+/// step: the first is `initial_increment`; an increment that converges quickly lets the next
+/// grow (up to `max_increment`), one that diverges, fails to converge in `max_iterations` or
+/// inverts an element is retried with a quarter of its size, and the step fails, naming the
+/// load factor and the reason, when an increment would fall below `min_increment` or the step
+/// has taken `max_increments` increments.
+#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
+#[serde(default, deny_unknown_fields)]
+pub struct NonlinearStatic {
+    /// Large displacements, rotations and strains (total Lagrangian elements, follower
+    /// pressure); `false` keeps the kinematics of small displacements (only the materials are
+    /// nonlinear).
+    pub nonlinear_geometry: bool,
+    /// The first increment, as a fraction of the step.
+    pub initial_increment: f64,
+    /// The smallest increment a cutback may reach.
+    pub min_increment: f64,
+    /// The largest increment.
+    pub max_increment: f64,
+    /// Cap on the increments (cutbacks included).
+    pub max_increments: u32,
+    /// Cap on the Newton iterations of one increment.
+    pub max_iterations: u32,
+    /// Convergence tolerances.
+    pub tolerances: Tolerances,
+    /// A line search along each Newton correction (off by default: full Newton steps converge
+    /// best for elastic large-rotation problems; a search helps where the material softens).
+    pub line_search: bool,
+}
+
+/// When an increment's Newton iterations have converged: all three hold.
+#[derive(Debug, Clone, Copy, PartialEq, Serialize, Deserialize)]
+#[serde(default, deny_unknown_fields)]
+pub struct Tolerances {
+    /// The largest residual force component over the largest force (applied, internal or
+    /// reaction) the step has seen.
+    pub force: f64,
+    /// The largest displacement correction over the largest displacement of the increment.
+    pub displacement: f64,
+    /// The work of the last correction against the residual over that of the first.
+    pub energy: f64,
+}
+
+impl Default for Tolerances {
+    fn default() -> Tolerances {
+        Tolerances { force: 1e-6, displacement: 1e-5, energy: 1e-10 }
+    }
+}
+
+impl Default for NonlinearStatic {
+    fn default() -> NonlinearStatic {
+        NonlinearStatic {
+            nonlinear_geometry: true,
+            initial_increment: 0.1,
+            min_increment: 1e-5,
+            max_increment: 1.0,
+            max_increments: 100,
+            max_iterations: 16,
+            tolerances: Tolerances::default(),
+            line_search: false,
+        }
+    }
+}
+
+impl NonlinearStatic {
+    pub fn validate(&self) -> Result<()> {
+        let fraction = |what: &str, v: f64| {
+            if v > 0.0 && v <= 1.0 { Ok(v) } else { Err(Error::Invalid(format!("the {what} is a fraction of the step in (0, 1], got {v}"))) }
+        };
+        let initial = fraction("initial increment", self.initial_increment)?;
+        let min = fraction("minimum increment", self.min_increment)?;
+        let max = fraction("maximum increment", self.max_increment)?;
+        if !(min <= initial && initial <= max) {
+            return Err(Error::Invalid(format!("the increments must satisfy minimum ≤ initial ≤ maximum, got {min}, {initial} and {max}")));
+        }
+        if !(1..=MAX_NONLINEAR_INCREMENTS).contains(&self.max_increments) {
+            return Err(Error::Invalid(format!("a nonlinear step takes 1 to {MAX_NONLINEAR_INCREMENTS} increments, got {}", self.max_increments)));
+        }
+        if !(1..=MAX_NONLINEAR_ITERATIONS).contains(&self.max_iterations) {
+            return Err(Error::Invalid(format!(
+                "a nonlinear step takes 1 to {MAX_NONLINEAR_ITERATIONS} iterations per increment, got {}",
+                self.max_iterations
+            )));
+        }
+        let t = self.tolerances;
+        for (what, v) in [("force", t.force), ("displacement", t.displacement), ("energy", t.energy)] {
+            if !(v > 0.0 && v < 1.0) {
+                return Err(Error::Invalid(format!("the {what} tolerance is in (0, 1), got {v}")));
+            }
+        }
+        Ok(())
+    }
 }
 
 /// Most time increments of a transient heat transfer step.
@@ -386,7 +494,7 @@ impl BulkViscosity {
 }
 
 impl Procedure {
-    /// `static` or `frequency`.
+    /// The procedure's type, as the model file names it.
     pub fn name(&self) -> &'static str {
         match self {
             Procedure::Static {} => "static",
@@ -395,6 +503,7 @@ impl Procedure {
             Procedure::HeatTransfer { .. } => "heat_transfer",
             Procedure::CoupledTemperatureDisplacement {} => "coupled_temperature_displacement",
             Procedure::Fluid { .. } => "fluid",
+            Procedure::NonlinearStatic(_) => "nonlinear_static",
         }
     }
 
@@ -435,6 +544,9 @@ impl Procedure {
         if let Procedure::ExplicitDynamic(e) = self {
             return e.validate();
         }
+        if let Procedure::NonlinearStatic(n) = self {
+            return n.validate();
+        }
         if let Procedure::Fluid { end_time, steps, time_step, frames, magic, .. } = *self {
             match (end_time, steps) {
                 (Some(t), None) => {
@@ -480,7 +592,7 @@ impl Procedure {
     /// The output a step of this procedure requests unless told otherwise.
     pub fn default_output(&self) -> BTreeSet<OutputVariable> {
         match self {
-            Procedure::Static {} => OutputVariable::ALL.into_iter().collect(),
+            Procedure::Static {} | Procedure::NonlinearStatic(_) => OutputVariable::ALL.into_iter().collect(),
             Procedure::Frequency { .. } => [OutputVariable::Displacement].into_iter().collect(),
             Procedure::ExplicitDynamic(_) => [OutputVariable::Displacement, OutputVariable::Stress].into_iter().collect(),
             // Velocity, pressure and wall forces, always.
@@ -753,6 +865,43 @@ mod tests {
         assert!(serde_json::from_value::<Procedure>(serde_json::json!({"type": "explicit_dynamic", "end_time": 1, "dt": 2})).is_err());
     }
 
+    #[test]
+    fn nonlinear_static_steps_validate_their_controls() {
+        let p: Procedure = serde_json::from_value(serde_json::json!({"type": "nonlinear_static"})).unwrap();
+        assert_eq!(p, Procedure::NonlinearStatic(NonlinearStatic::default()));
+        assert_eq!(p.name(), "nonlinear_static");
+        assert!(p.validate().is_ok() && p.is_structural() && !p.is_dynamic());
+        assert_eq!(p.default_output(), Procedure::Static {}.default_output());
+        let p: Procedure = serde_json::from_value(serde_json::json!({
+            "type": "nonlinear_static", "nonlinear_geometry": false, "initial_increment": 0.5, "min_increment": 0.01,
+            "max_increments": 20, "max_iterations": 8, "tolerances": {"force": 1e-4}, "line_search": true
+        }))
+        .unwrap();
+        let Procedure::NonlinearStatic(n) = &p else { panic!("{p:?}") };
+        assert_eq!((n.nonlinear_geometry, n.max_increment, n.tolerances.force, n.tolerances.energy), (false, 1.0, 1e-4, 1e-10));
+        let back: Procedure = serde_json::from_value(serde_json::to_value(&p).unwrap()).unwrap();
+        assert_eq!(back, p);
+        let base = NonlinearStatic::default();
+        let bad = [
+            NonlinearStatic { initial_increment: 0.0, ..base.clone() },
+            NonlinearStatic { initial_increment: f64::NAN, ..base.clone() },
+            NonlinearStatic { initial_increment: 2.0, max_increment: 2.0, ..base.clone() },
+            NonlinearStatic { min_increment: 0.5, initial_increment: 0.1, ..base.clone() },
+            NonlinearStatic { max_increment: 0.05, ..base.clone() },
+            NonlinearStatic { max_increments: 0, ..base.clone() },
+            NonlinearStatic { max_increments: MAX_NONLINEAR_INCREMENTS + 1, ..base.clone() },
+            NonlinearStatic { max_iterations: 0, ..base.clone() },
+            NonlinearStatic { max_iterations: u32::MAX, ..base.clone() },
+            NonlinearStatic { tolerances: Tolerances { force: 0.0, ..Tolerances::default() }, ..base.clone() },
+            NonlinearStatic { tolerances: Tolerances { energy: f64::INFINITY, ..Tolerances::default() }, ..base.clone() },
+            NonlinearStatic { tolerances: Tolerances { displacement: 1.0, ..Tolerances::default() }, ..base.clone() },
+        ];
+        for b in bad {
+            assert!(Procedure::NonlinearStatic(b.clone()).validate().is_err(), "{b:?}");
+        }
+        assert!(serde_json::from_value::<Procedure>(serde_json::json!({"type": "nonlinear_static", "nlgeom": true})).is_err());
+    }
+
     #[test]
     fn heat_transfer_procedures() {
         let steady: Procedure = serde_json::from_value(serde_json::json!({"type": "heat_transfer"})).unwrap();