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Message #06607
[Branch ~yade-dev/yade/trunk] Rev 2622: - As in r2615 : skip velocity update, damping, DOFs blocking, and exact spherical rotations, when...
------------------------------------------------------------
revno: 2622
committer: Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>
branch nick: yade
timestamp: Tue 2010-12-21 19:26:30 +0100
message:
- As in r2615 : skip velocity update, damping, DOFs blocking, and exact spherical rotations, when !isDynamic. 0-density bodies should be safe.
This is a merging r2615 with the per-DOF blocking and clump handling from r2621.
modified:
pkg/dem/NewtonIntegrator.cpp
--
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=== modified file 'pkg/dem/NewtonIntegrator.cpp'
--- pkg/dem/NewtonIntegrator.cpp 2010-12-21 15:31:40 +0000
+++ pkg/dem/NewtonIntegrator.cpp 2010-12-21 18:26:30 +0000
@@ -135,28 +135,31 @@
else{ scene->energy->add(Etrans,"kinTrans",kinEnergyTransIx,true); scene->energy->add(Erot,"kinRot",kinEnergyRotIx,true); }
}
- if(likely(b->isStandalone())){
+ if (likely(b->isStandalone())){
// translate equation
- state->accel=computeAccel(f,state->mass,state->blockedDOFs);
- cundallDamp(dt,f,fluctVel,state->accel);
+ if(b->isDynamic()){
+ state->accel=computeAccel(f,state->mass,state->blockedDOFs);
+ cundallDamp(dt,f,fluctVel,state->accel);}
leapfrogTranslate(scene,state,id,dt);
// rotate equation
// exactAsphericalRot is disabled or the body is spherical
- if(likely(!exactAsphericalRot || !b->isAspherical() || b->state->inertia.minCoeff()==0)){
- state->angAccel=computeAngAccel(m,state->inertia,state->blockedDOFs);
- cundallDamp(dt,m,state->angVel,state->angAccel);
+ if (likely(!exactAsphericalRot || !b->isAspherical() || !b->isDynamic())){
+ if(b->isDynamic()) {
+ state->angAccel=computeAngAccel(m,state->inertia,state->blockedDOFs);
+ cundallDamp(dt,m,state->angVel,state->angAccel);}
leapfrogSphericalRotate(scene,state,id,dt);
} else { // exactAsphericalRot enabled & aspherical body
// no damping in this case
leapfrogAsphericalRotate(scene,state,id,dt,m);
}
} else if (b->isClump()){
- // reset acceleration of the clump itself; computed from accels on constituents
- state->accel=state->angAccel=Vector3r::Zero();
- // clump mass forces
- Vector3r dLinAccel=computeAccel(f,state->mass,state->blockedDOFs);
- cundallDamp(dt,f,fluctVel,dLinAccel);
- state->accel+=dLinAccel;
+ if(b->isDynamic()){
+ // reset acceleration of the clump itself; computed from accels on constituents
+ state->accel=state->angAccel=Vector3r::Zero();
+ // clump mass forces
+ Vector3r dLinAccel=computeAccel(f,state->mass,state->blockedDOFs);
+ cundallDamp(dt,f,fluctVel,dLinAccel);
+ state->accel+=dLinAccel;}
Vector3r M(m);
// sum force on clump memebrs
// exactAsphericalRot enabled and clump is aspherical
@@ -165,23 +168,28 @@
const Body::id_t& memberId=mm.first;
const shared_ptr<Body>& member=Body::byId(memberId,scene); assert(member->isClumpMember());
State* memberState=member->state.get();
- handleClumpMemberAccel(scene,memberId,memberState,state);
- handleClumpMemberTorque(scene,memberId,memberState,state,M);
+ if(b->isDynamic()){
+ handleClumpMemberAccel(scene,memberId,memberState,state);
+ handleClumpMemberTorque(scene,memberId,memberState,state,M);}
+ //FIXME : we are saving max velocity of previous timestep here
saveMaximaVelocity(scene,memberId,memberState);
}
// motion
leapfrogTranslate(scene,state,id,dt);
leapfrogAsphericalRotate(scene,state,id,dt,M);
} else { // exactAsphericalRot disabled or clump is spherical
- Vector3r dAngAccel=computeAngAccel(M,state->inertia,state->blockedDOFs);
- cundallDamp(dt,M,state->angVel,dAngAccel);
- state->angAccel+=dAngAccel;
+ if(b->isDynamic()){
+ Vector3r dAngAccel=computeAngAccel(M,state->inertia,state->blockedDOFs);
+ cundallDamp(dt,M,state->angVel,dAngAccel);
+ state->angAccel+=dAngAccel;}
FOREACH(Clump::MemberMap::value_type mm, static_cast<Clump*>(b->shape.get())->members){
const Body::id_t& memberId=mm.first;
const shared_ptr<Body>& member=Body::byId(memberId,scene); assert(member->isClumpMember());
State* memberState=member->state.get();
- handleClumpMemberAccel(scene,memberId,memberState,state);
- handleClumpMemberAngAccel(scene,memberId,memberState,state);
+ if(b->isDynamic()){
+ handleClumpMemberAccel(scene,memberId,memberState,state);
+ handleClumpMemberAngAccel(scene,memberId,memberState,state);}
+ //FIXME : we are saving max velocity of previous timestep here
saveMaximaVelocity(scene,memberId,memberState);
}
// motion
@@ -220,12 +228,13 @@
} else if (homoDeform==Cell::HOMO_POS){
state->pos+=scene->cell->velGrad*state->pos*dt;
}
- state->vel+=dt*state->accel;
- state->pos+=state->vel*dt;
+ if(state->blockedDOFs!=State::DOF_ALL) state->vel+=dt*state->accel;
+ state->pos += state->vel*dt;
}
-inline void NewtonIntegrator::leapfrogSphericalRotate(Scene* scene, State* state, const Body::id_t& id, const Real& dt ){
- state->angVel+=dt*state->angAccel;
+inline void NewtonIntegrator::leapfrogSphericalRotate(Scene* scene, State* state, const Body::id_t& id, const Real& dt )
+{
+ if(state->blockedDOFs!=State::DOF_ALL) state->angVel+=dt*state->angAccel;
Vector3r axis = state->angVel;
if (axis!=Vector3r::Zero()) { //If we have an angular velocity, we make a rotation
@@ -233,7 +242,6 @@
Quaternionr q(AngleAxisr(angle*dt,axis));
state->ori = q*state->ori;
}
-
if(scene->forces.getMoveRotUsed() && scene->forces.getRot(id)!=Vector3r::Zero()) {
Vector3r r(scene->forces.getRot(id));
Real norm=r.norm(); r/=norm;
