Author: eudoxos
Date: 2009-01-04 21:15:19 +0100 (Sun, 04 Jan 2009)
New Revision: 1604
Modified:
trunk/core/StandAloneEngine.hpp
trunk/extra/clump/Shop.cpp
trunk/gui/py/eudoxos.py
trunk/pkg/common/RenderingEngine/OpenGLRenderingEngine/OpenGLRenderingEngine.hpp
trunk/pkg/common/SConscript
trunk/pkg/dem/DataClass/InteractionGeometry/SpheresContactGeometry.hpp
trunk/pkg/dem/Engine/EngineUnit/InteractingSphere2InteractingSphere4SpheresContactGeometry.cpp
Log:
1. Fix a bug in rotation ode in SpheresContactGeometry. Now the code gives the
same results as almost-for-sure-correct FEM code regarding strain computation.
2. Add label attribute to StandAloneEngine (inherits from Engine)
Modified: trunk/core/StandAloneEngine.hpp
===================================================================
--- trunk/core/StandAloneEngine.hpp 2009-01-04 14:32:53 UTC (rev 1603)
+++ trunk/core/StandAloneEngine.hpp 2009-01-04 20:15:19 UTC (rev 1604)
@@ -16,11 +16,9 @@
public :
StandAloneEngine() {};
virtual ~StandAloneEngine() {};
-
- REGISTER_CLASS_NAME(StandAloneEngine);
- REGISTER_BASE_CLASS_NAME(Engine);
+ REGISTER_ATTRIBUTES(Engine,/* no own attributes*/);
+ REGISTER_CLASS_AND_BASE(StandAloneEngine,Engine);
};
-
REGISTER_SERIALIZABLE(StandAloneEngine);
#endif // STANDALONEENGINE_HPP
Modified: trunk/extra/clump/Shop.cpp
===================================================================
--- trunk/extra/clump/Shop.cpp 2009-01-04 14:32:53 UTC (rev 1603)
+++ trunk/extra/clump/Shop.cpp 2009-01-04 20:15:19 UTC (rev 1604)
@@ -141,7 +141,6 @@
FOREACH(const shared_ptr<Body>& b, *rb->bodies){
if(!b->isDynamic) continue;
shared_ptr<RigidBodyParameters>
rbp=YADE_PTR_CAST<RigidBodyParameters>(b->physicalParameters); assert(rbp);
- Matrix3r
inertiaMatrix(rbp->inertia[0],rbp->inertia[1],rbp->inertia[2]);
// ½(mv²+ωIω)
ret+=.5*(rbp->mass*rbp->velocity.SquaredLength()+rbp->angularVelocity.Dot(diagMult(rbp->inertia,rbp->angularVelocity)));
}
Modified: trunk/gui/py/eudoxos.py
===================================================================
--- trunk/gui/py/eudoxos.py 2009-01-04 14:32:53 UTC (rev 1603)
+++ trunk/gui/py/eudoxos.py 2009-01-04 20:15:19 UTC (rev 1604)
@@ -107,11 +107,20 @@
f.write("ndofman %d nelem %d ncrosssect 1 nmat 1 nbc %d nic 0 nltf 1
nbarrier 0\n"%(len(O.bodies),len(inters),len(O.bodies)*6))
bcMax=0; bcMap={}
for b in O.bodies:
+ mf=' '.join([str(a) for a in
list(O.actions.f(b.id))+list(O.actions.m(b.id))])
+ f.write("## #%d: forces %s\n"%(b.id+1,mf))
f.write("Particle %d coords 3 %.15e %.15e %.15e rad
%g"%(b.id+1,b.phys['se3'][0],b.phys['se3'][1],b.phys['se3'][2],b.shape['radius']))
bcMap[b.id]=tuple([bcMax+i for i in [1,2,3,4,5,6]])
bcMax+=6
f.write(' bc '+' '.join([str(i) for i in bcMap[b.id]])+'\n')
for j,i in enumerate(inters):
+ epsTNorm=sqrt(sum([e**2 for e in i.phys['epsT']]))
+ epsT='epsT [ %g %g %g ]
%g'%(i.phys['epsT'][0],i.phys['epsT'][1],i.phys['epsT'][2],epsTNorm)
+ en=i.phys['epsN']; n=i.geom['normal']
+ epsN='epsN [ %g %g %g ] %g'%(en*n[0],en*n[1],en*n[2],en)
+ Fn='Fn [ %g %g %g ]
%g'%(i.phys['normalForce'][0],i.phys['normalForce'][1],i.phys['normalForce'][2],i.phys['Fn'])
+ Fs='Fs [ %lf %lf %lf ]
%lf'%(i.phys['shearForce'][0],i.phys['shearForce'][1],i.phys['shearForce'][2],sqrt(sum([fs**2
for fs in i.phys['shearForce']])))
+ f.write('## #%d #%d: %s %s %s
%s\n'%(i.id1+1,i.id2+1,epsN,epsT,Fn,Fs))
f.write('CohSur3d %d nodes 2 %d %d mat 1 crossSect 1 area
%g\n'%(j+1,i.id1+1,i.id2+1,i.phys['crossSection']))
# crosssection
f.write("SimpleCS 1 thick 1.0 width 1.0\n")
@@ -122,7 +131,7 @@
for b in O.bodies:
displ=b.phys.displ; rot=b.phys.rot
dofs=[displ[0],displ[1],displ[2],rot[0],rot[1],rot[2]]
- f.write('# body #%d\n'%b.id)
+ f.write('# particle %d\n'%b.id)
for dof in range(6):
f.write('BoundaryCondition %d loadTimeFunction 1
prescribedvalue %.15e\n'%(bcMap[b.id][dof],dofs[dof]))
#f.write('PiecewiseLinFunction 1 npoints 3 t 3 0. 10. 1000. f(t) 3 0.
10. 1000.\n')
Modified:
trunk/pkg/common/RenderingEngine/OpenGLRenderingEngine/OpenGLRenderingEngine.hpp
===================================================================
---
trunk/pkg/common/RenderingEngine/OpenGLRenderingEngine/OpenGLRenderingEngine.hpp
2009-01-04 14:32:53 UTC (rev 1603)
+++
trunk/pkg/common/RenderingEngine/OpenGLRenderingEngine/OpenGLRenderingEngine.hpp
2009-01-04 20:15:19 UTC (rev 1604)
@@ -20,6 +20,7 @@
vector<Se3r> clipPlaneSe3;
vector<int> clipPlaneActive; // should be bool, but
serialization doesn't handle vector<bool>
const int clipPlaneNum;
+ //vector<body_id_t> bodiesByDepth; //
camera::cameraCoordinatesOf[2]
bool scaleDisplacements,scaleRotations;
Vector3r displacementScale; Real rotationScale;
Modified: trunk/pkg/common/SConscript
===================================================================
--- trunk/pkg/common/SConscript 2009-01-04 14:32:53 UTC (rev 1603)
+++ trunk/pkg/common/SConscript 2009-01-04 20:15:19 UTC (rev 1604)
@@ -142,6 +142,10 @@
LIBS=env['LIBS']+['ElasticBodyParameters','RigidBodyParameters','ParticleParameters','InteractionPhysicsMetaEngine','NormalShearInteractions']),
env.SharedLibrary('NormalShearInteractions',['DataClass/InteractionPhysics/NormalShearInteractions.cpp']),
+ #env.SharedLibrary('VelocityDamping',
+ # ['Engine/EngineUnit/VelocityDamping.cpp'],
+ # LIBS=env['LIBS']+['Force','Momentum','RigidBodyParameters']),
+
#env.SharedLibrary('PersistentTriangulationCollider',
# ['Engine/StandAloneEngine/PersistentTriangulationCollider.cpp'],
#
LIBPATH=env['LIBPATH']+['/home/bruno/micromacro/KdevMicroMacro/src'],
Modified: trunk/pkg/dem/DataClass/InteractionGeometry/SpheresContactGeometry.hpp
===================================================================
--- trunk/pkg/dem/DataClass/InteractionGeometry/SpheresContactGeometry.hpp
2009-01-04 14:32:53 UTC (rev 1603)
+++ trunk/pkg/dem/DataClass/InteractionGeometry/SpheresContactGeometry.hpp
2009-01-04 20:15:19 UTC (rev 1604)
@@ -59,7 +59,7 @@
static Quaternionr rollPlanePtToSphere(const Vector3r& planePt,
const Real& radius, const Vector3r& normal);
void setTgPlanePts(Vector3r p1new, Vector3r p2new);
-
+
Vector3r contPtInTgPlane1() const {assert(hasShear); return
unrollSpherePtToPlane(ori1*cp1rel,d1,normal);}
Vector3r contPtInTgPlane2() const {assert(hasShear); return
unrollSpherePtToPlane(ori2*cp2rel,d2,-normal);}
Vector3r contPt() const {return contactPoint;
/*pos1+(d1/d0)*(pos2-pos1)*/}
Modified:
trunk/pkg/dem/Engine/EngineUnit/InteractingSphere2InteractingSphere4SpheresContactGeometry.cpp
===================================================================
---
trunk/pkg/dem/Engine/EngineUnit/InteractingSphere2InteractingSphere4SpheresContactGeometry.cpp
2009-01-04 14:32:53 UTC (rev 1603)
+++
trunk/pkg/dem/Engine/EngineUnit/InteractingSphere2InteractingSphere4SpheresContactGeometry.cpp
2009-01-04 20:15:19 UTC (rev 1604)
@@ -50,7 +50,7 @@
if(c->isNew){
// contact constants
scm->d0=(se32.position-se31.position).Length();
- scm->d1=s1->radius-penetrationDepth;
scm->d2=s2->radius-penetrationDepth;
+ scm->d1=s1->radius-.5*penetrationDepth;
scm->d2=s2->radius-.5*penetrationDepth;
scm->initRelOri12=se31.orientation.Conjugate()*se32.orientation;
// quasi-constants
scm->cp1rel.Align(Vector3r::UNIT_X,se31.orientation.Conjugate()*normal);
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