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Message #02800
[Branch ~yade-dev/yade/trunk] Rev 1914: 1. Fix weird behavior reported by Luc at https://lists.launchpad.net/yade-dev/msg02794.html (nume...
------------------------------------------------------------
revno: 1914
committer: Václav Šmilauer <eudoxos@xxxxxxxx>
branch nick: trunk
timestamp: Mon 2009-12-21 23:19:11 +0100
message:
1. Fix weird behavior reported by Luc at https://lists.launchpad.net/yade-dev/msg02794.html (numerical issue)
2. Fix crash at body selection (wrong dispatcher arguments)
3. Add warnings about what Luc observed, should it happen again.
modified:
core/Collider.cpp
core/Scene.cpp
pkg/common/Engine/Dispatcher/InteractionDispatchers.cpp
pkg/common/Engine/Dispatcher/LawDispatcher.cpp
pkg/common/Engine/Dispatcher/LawDispatcher.hpp
pkg/common/RenderingEngine/OpenGLRenderingEngine.cpp
pkg/dem/DataClass/InteractionGeometry/Dem3DofGeom_FacetSphere.cpp
--
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=== modified file 'core/Collider.cpp'
--- core/Collider.cpp 2009-12-11 07:27:29 +0000
+++ core/Collider.cpp 2009-12-21 22:19:11 +0000
@@ -39,6 +39,8 @@
}
bool Collider::mayCollide(const Body* b1, const Body* b2){
return
+ // might be called with deleted bodies, i.e. NULL pointers
+ (b1!=NULL && b2!=NULL) &&
// only collide if at least one particle is standalone or they belong to different clumps
(b1->isStandalone() || b2->isStandalone() || b1->clumpId!=b2->clumpId ) &&
// do not collide clumps, since they are just containers, never interact
=== modified file 'core/Scene.cpp'
--- core/Scene.cpp 2009-12-20 22:03:17 +0000
+++ core/Scene.cpp 2009-12-21 22:19:11 +0000
@@ -64,6 +64,7 @@
void Scene::postProcessAttributes(bool deserializing){
/* since yade::serialization doesn't properly handle shared pointers, iterate over all bodies and make materials shared again, if id>=0 */
FOREACH(const shared_ptr<Body>& b, *bodies){
+ if(!b) continue; // erased body
if(!b->material || b->material->id<0) continue; // not a shared material
assert(b->material->id < (int)materials.size());
b->material=materials[b->material->id];
=== modified file 'pkg/common/Engine/Dispatcher/InteractionDispatchers.cpp'
--- pkg/common/Engine/Dispatcher/InteractionDispatchers.cpp 2009-12-20 22:03:17 +0000
+++ pkg/common/Engine/Dispatcher/InteractionDispatchers.cpp 2009-12-21 22:19:11 +0000
@@ -146,6 +146,7 @@
physDispatcher->operator()(Body::byId(I->getId1(),scene)->material, Body::byId(I->getId2(),scene)->material,I);
// LawDispatcher
lawDispatcher->operator()(I->interactionGeometry,I->interactionPhysics,I.get(),scene);
+ if(!I->isReal() && I->isFresn(scene)) LOG_WARN("Law functor deleted interaction that was just created. Please report bug: either this message is spurious, or the functor (or something else) is buggy.");
#endif
}
}
=== modified file 'pkg/common/Engine/Dispatcher/LawDispatcher.cpp'
--- pkg/common/Engine/Dispatcher/LawDispatcher.cpp 2009-12-09 16:43:25 +0000
+++ pkg/common/Engine/Dispatcher/LawDispatcher.cpp 2009-12-21 22:19:11 +0000
@@ -1,6 +1,7 @@
// 2009 © Václav Šmilauer <eudoxos@xxxxxxxx>
#include "LawDispatcher.hpp"
YADE_PLUGIN((LawDispatcher));
+CREATE_LOGGER(LawDispatcher);
void LawDispatcher::action(Scene*){
updateScenePtr();
#ifdef YADE_OPENMP
@@ -14,6 +15,7 @@
if(I->isReal()){
assert(I->interactionGeometry); assert(I->interactionPhysics);
operator()(I->interactionGeometry,I->interactionPhysics,I.get(),scene);
+ if(!I->isReal() && I->isFresh(scene)) LOG_ERROR("Law functor deleted interaction that was just created. Please report bug: either this message is spurious, or the functor (or something else) is buggy.");
}
}
}
=== modified file 'pkg/common/Engine/Dispatcher/LawDispatcher.hpp'
--- pkg/common/Engine/Dispatcher/LawDispatcher.hpp 2009-12-04 23:07:34 +0000
+++ pkg/common/Engine/Dispatcher/LawDispatcher.hpp 2009-12-21 22:19:11 +0000
@@ -17,6 +17,7 @@
public:
virtual void action(Scene*);
REGISTER_CLASS_AND_BASE(LawDispatcher,Dispatcher2D);
+ DECLARE_LOGGER;
};
REGISTER_SERIALIZABLE(LawDispatcher);
=== modified file 'pkg/common/RenderingEngine/OpenGLRenderingEngine.cpp'
--- pkg/common/RenderingEngine/OpenGLRenderingEngine.cpp 2009-12-20 22:03:17 +0000
+++ pkg/common/RenderingEngine/OpenGLRenderingEngine.cpp 2009-12-21 22:19:11 +0000
@@ -95,7 +95,7 @@
glRotatef(angle*Mathr::RAD_TO_DEG,axis[0],axis[1],axis[2]);
//if(b->shape->getClassName() != "LineSegment"){ // FIXME: a body needs to say: I am selectable ?!?!
glPushName(b->getId());
- shapeDispatcher(b->shape,b->state,Body_wire || b->shape->wire);
+ shapeDispatcher(b->shape,b->state,Body_wire || b->shape->wire,viewInfo);
glPopName();
//}
glPopMatrix();
=== modified file 'pkg/dem/DataClass/InteractionGeometry/Dem3DofGeom_FacetSphere.cpp'
--- pkg/dem/DataClass/InteractionGeometry/Dem3DofGeom_FacetSphere.cpp 2009-12-13 20:30:13 +0000
+++ pkg/dem/DataClass/InteractionGeometry/Dem3DofGeom_FacetSphere.cpp 2009-12-21 22:19:11 +0000
@@ -51,7 +51,7 @@
The FACET_TOPO thing is still missing here but can be copied literally once it is tested */
// begin facet-local coordinates
Vector3r cogLine=state1.ori.Conjugate()*(state2.pos+shift2-state1.pos); // connect centers of gravity
- //TRVAR4(se31.position,se31.orientation,se32.position,cogLine);
+ //TRVAR4(state1.pos,state1.ori,state2.pos,cogLine);
Vector3r normal=facet->nf;
Real planeDist=normal.Dot(cogLine);
if(planeDist<0){normal*=-1; planeDist*=-1; }
@@ -139,15 +139,24 @@
if(penetrationDepth<0 && !c->isReal()) return false;
+
shared_ptr<Dem3DofGeom_FacetSphere> fs;
Vector3r normalGlob=state1.ori*normal;
+ bool isNew=false;
if(c->interactionGeometry) fs=YADE_PTR_CAST<Dem3DofGeom_FacetSphere>(c->interactionGeometry);
else {
+ isNew=true;
fs=shared_ptr<Dem3DofGeom_FacetSphere>(new Dem3DofGeom_FacetSphere());
c->interactionGeometry=fs;
fs->effR2=sphereRadius-penetrationDepth;
fs->refR1=-1; fs->refR2=sphereRadius;
- fs->refLength=fs->effR2;
+ // postponed till below, to avoid numeric issues
+ // see https://lists.launchpad.net/yade-dev/msg02794.html
+ // since displacementN() is computed from fs->contactPoint,
+ // it was returning something like +1e-16 at the very first step
+ // when it was created ⇒ the constitutive law was erasing the
+ // contact as soon as it was created.
+ //fs->refLength=fs->effR2;
fs->cp1pt=contactPt; // facet-local intial contact point
fs->localFacetNormal=facet->nf;
fs->cp2rel.Align(Vector3r::UNIT_X,state2.ori.Conjugate()*(-normalGlob)); // initial sphere-local center-contactPt orientation WRT +x
@@ -155,7 +164,11 @@
}
fs->se31=state1.se3; fs->se32=state2.se3; fs->se32.position+=shift2;
fs->normal=normalGlob;
- fs->contactPoint=state2.pos+shift2+(-normalGlob)*(sphereRadius-penetrationDepth);
+ fs->contactPoint=state2.pos+shift2+(-normalGlob)*fs->effR2;
+ // this refLength computation mimics what displacementN() does inside
+ // displcementN will therefore return exactly zero at the step the contact
+ // was created, which is what we want
+ if(isNew) fs->refLength=(state2.pos+shift2-fs->contactPoint).Length();
return true;
}
