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Message #06657
[Branch ~yade-dev/yade/trunk] Rev 2635: -As in r2615 and r2622 (both reverted), and partialy in r2626 : skip acceleration, per-dof blocki...
------------------------------------------------------------
revno: 2635
committer: Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>
branch nick: yade
timestamp: Mon 2011-01-03 08:11:41 +0100
message:
-As in r2615 and r2622 (both reverted), and partialy in r2626 : skip acceleration, per-dof blocking, damping, and velocity update for bodies and clumps in case of DOF_ALL blocking (per DOF operations are useless in such case).
Please don't revert unless there is a reason to compute DOF_ALL's acceleration and it is guaranteed bug-free (see list). Discussion more than welcome, of course.
- Fix functor name in reg. test.
modified:
pkg/dem/NewtonIntegrator.cpp
py/tests/cohesive-chain.py
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=== modified file 'pkg/dem/NewtonIntegrator.cpp'
--- pkg/dem/NewtonIntegrator.cpp 2010-12-27 10:20:51 +0000
+++ pkg/dem/NewtonIntegrator.cpp 2011-01-03 07:11:41 +0000
@@ -136,13 +136,17 @@
}
if (likely(b->isStandalone())){
- state->accel=computeAccel(f,state->mass,state->blockedDOFs);
- cundallDamp(dt,f,fluctVel,state->accel);
+ if (state->blockedDOFs!=State::DOF_ALL) {
+ state->accel=computeAccel(f,state->mass,state->blockedDOFs);
+ cundallDamp(dt,f,fluctVel,state->accel);
+ state->vel+=dt*state->accel;}
leapfrogTranslate(state,id,dt);
- // 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);
+ // exactAsphericalRot is disabled, or the body is spherical, or it is aspherical with all DOF's blocked. Note (BC) : do we need the last test?
+ if (likely(!exactAsphericalRot || !b->isAspherical() || state->blockedDOFs==State::DOF_ALL || state->inertia.minCoeff()<=0.)){
+ if (state->blockedDOFs!=State::DOF_ALL) {
+ state->angAccel=computeAngAccel(m,state->inertia,state->blockedDOFs);
+ cundallDamp(dt,m,state->angVel,state->angAccel);
+ state->angVel+=dt*state->angAccel;}
leapfrogSphericalRotate(state,id,dt);
} else { // exactAsphericalRot enabled & aspherical body
// damp the torque
@@ -153,9 +157,9 @@
// aspherical if allowed, if the body is aspherical, has no zero inertia term (->NaN) and has at least one rotational DOF unblocked
const bool aspherical=(exactAsphericalRot && b->isAspherical() && b->state->inertia.maxCoeff()>0 && ((state->blockedDOFs&State::DOF_RXRYRZ)!=State::DOF_RXRYRZ));
Vector3r M(m); // torque on the clump itself, aspherical only
- state->accel=computeAccel(f,state->mass,state->blockedDOFs); cundallDamp(dt,f,fluctVel,state->accel);
- if(!aspherical){ state->angAccel=computeAngAccel(M,state->inertia,state->blockedDOFs); cundallDamp(dt,m,state->angVel,state->angAccel); }
if(state->blockedDOFs!=State::DOF_ALL){ // if the clump has all DoFs blocked, forces on members would be computed uselessly
+ state->accel=computeAccel(f,state->mass,state->blockedDOFs); cundallDamp(dt,f,fluctVel,state->accel);
+ if(!aspherical){ state->angAccel=computeAngAccel(M,state->inertia,state->blockedDOFs); cundallDamp(dt,m,state->angVel,state->angAccel); }
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());
@@ -164,11 +168,13 @@
if(aspherical) M+=clumpMemberTorque(memberId,memberState,state);
else state->angAccel+=clumpMemberAngAccel(memberId,memberState,state);
}
+ state->vel+=dt*state->accel;
+ state->angVel+=dt*state->angAccel;
}
// translation
leapfrogTranslate(state,id,dt);
- // rotation
- if(aspherical) leapfrogAsphericalRotate(state,id,dt,M);
+ // rotation (asphericalRotate will not keep velocity constant if State::DOF_ALL, so we skip it in this special case)
+ if(aspherical && state->blockedDOFs!=State::DOF_ALL) leapfrogAsphericalRotate(state,id,dt,M);
else leapfrogSphericalRotate(state,id,dt);
// move individual members of the clump, save maxima velocity (for collider stride)
FOREACH(Clump::MemberMap::value_type mm, b->shape->cast<Clump>().members){
@@ -206,16 +212,13 @@
} else if (homoDeform==Cell::HOMO_POS){
state->pos+=scene->cell->velGrad*state->pos*dt;
}
- state->vel+=dt*state->accel;
state->pos+=state->vel*dt;
}
void NewtonIntegrator::leapfrogSphericalRotate(State* state, const Body::id_t& id, const Real& dt )
{
- state->angVel+=dt*state->angAccel;
Vector3r axis = state->angVel;
-
- if (axis!=Vector3r::Zero()) { //If we have an angular velocity, we make a rotation
+ if (axis!=Vector3r::Zero()) {//If we have an angular velocity, we make a rotation
Real angle=axis.norm(); axis/=angle;
Quaternionr q(AngleAxisr(angle*dt,axis));
state->ori = q*state->ori;
=== modified file 'py/tests/cohesive-chain.py'
--- py/tests/cohesive-chain.py 2010-12-26 15:42:43 +0000
+++ py/tests/cohesive-chain.py 2011-01-03 07:11:41 +0000
@@ -31,7 +31,7 @@
Bo1_Sphere_Aabb()]),
InteractionLoop(
[Ig2_ChainedCylinder_ChainedCylinder_ScGeom6D(),Ig2_Sphere_ChainedCylinder_CylScGeom()],
- [Ip2_2xCohFrictMat_CohFrictPhys(setCohesionNow=True,setCohesionOnNewContacts=True)],
+ [Ip2_CohFrictMat_CohFrictMat_CohFrictPhys(setCohesionNow=True,setCohesionOnNewContacts=True)],
[Law2_ScGeom6D_CohFrictPhys_CohesionMoment()]),
## Apply gravity
GravityEngine(gravity=[0,-9.81,0]),
