Hi Anton,
Thank you for the link.
After few tests, it seems that CohesivefrictionalPM does not work in
its actual version (is it related to Eigen?...). More particularly, it
seems that the problem comes from the part related to the moment
rotation law (see the concerned code below). I know that it is a pity
to have copy/paste this code from Bruno's work on
CohesivefrictionalContactLaw, but I cannot see where is the problem (I
tried to follow all the wm3->Eigen conversions, and it seems ok).
Does anibody have any suggestion? I am stucked...
Luc
/* Moment Rotation Law */
// NOTE this part could probably be computed in ScGeom to avoid
copy/paste multiplication !!!
Quaternionr delta( b1->state->ori *
phys->initialOrientation1.conjugate() *phys->initialOrientation2 *
b2->state->ori.conjugate()); //relative orientation
AngleAxisr aa(angleAxisFromQuat(delta)); // axis of rotation -
this is the Moment direction UNIT vector; angle represents the power
of resistant ELASTIC moment
if(aa.angle() > Mathr::PI) aa.angle() -= Mathr::TWO_PI; // angle
is between 0 and 2*pi, but should be between -pi and pi
phys->cumulativeRotation = aa.angle();
//Find angle*axis. That's all. But first find angle about contact
normal. Result is scalar. Axis is contact normal.
Real angle_twist(aa.angle() * aa.axis().dot(geom->normal) );
//rotation about normal
Vector3r axis_twist(angle_twist * geom->normal);
Vector3r moment_twist(axis_twist * phys->kr);
Vector3r axis_bending(aa.angle()*aa.axis() - axis_twist); //total
rotation minus rotation about normal
Vector3r moment_bending(axis_bending * phys->kr);
Vector3r moment = moment_twist + moment_bending;
Real MomentMax = phys->maxBend*std::fabs(phys->normalForce.norm());
Real scalarMoment = moment.norm();
/*Plastic moment */
if(scalarMoment > MomentMax)
{
Real ratio = 0;
ratio *= MomentMax/scalarMoment; // to fix the moment to its
yielding value
moment *= ratio;
moment_twist *= ratio;
moment_bending *= ratio;
}
phys->moment_twist = moment_twist;
phys->moment_bending = moment_bending;
rootBody->forces.addTorque(id1,-moment);
rootBody->forces.addTorque(id2, moment);
or maybe from the
2010/5/26 Anton Gladky <gladky.anton@xxxxxxxxx
<mailto:gladky.anton@xxxxxxxxx>>
Hi, Luc!
Have a look here:
https://yade-dem.org/wiki/Wm3%E2%86%92Eigen
Eigen is a actively developed mathematical library. Wm3 is, as I
know, does not develops now. Eigen gives a great functionality
through API and well-supported.
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