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Message #10408
[Branch ~yade-pkg/yade/git-trunk] Rev 3804: new simple contact law with normal viscose damping which allows to specify kn and ks/kn in Ip2
------------------------------------------------------------
revno: 3804
committer: Klaus Thoeni <klaus.thoeni@xxxxxxxxx>
timestamp: Sat 2014-01-25 08:59:41 +1100
message:
new simple contact law with normal viscose damping which allows to specify kn and ks/kn in Ip2
added:
pkg/dem/FrictViscoPM.cpp
pkg/dem/FrictViscoPM.hpp
--
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=== added file 'pkg/dem/FrictViscoPM.cpp'
--- pkg/dem/FrictViscoPM.cpp 1970-01-01 00:00:00 +0000
+++ pkg/dem/FrictViscoPM.cpp 2014-01-24 21:59:41 +0000
@@ -0,0 +1,228 @@
+/*************************************************************************
+* Copyright (C) 2014 by Klaus Thoeni *
+* klaus.thoeni@xxxxxxxxxxxxxxxx *
+* *
+* This program is free software; it is licensed under the terms of the *
+* GNU General Public License v2 or later. See file LICENSE for details. *
+*************************************************************************/
+
+#include"FrictViscoPM.hpp"
+#include<yade/pkg/dem/ScGeom.hpp>
+#include<yade/core/Omega.hpp>
+#include<yade/core/Scene.hpp>
+
+YADE_PLUGIN((FrictViscoMat)(FrictViscoPhys)(Ip2_FrictViscoMat_FrictViscoMat_FrictViscoPhys)(Ip2_FrictMat_FrictViscoMat_FrictViscoPhys)(Law2_ScGeom_FrictViscoPhys_CundallStrackVisco));
+
+FrictViscoMat::~FrictViscoMat(){}
+
+/********************** Ip2_FrictViscoMat_FrictMat_FrictViscoPhys ****************************/
+CREATE_LOGGER(FrictViscoPhys);
+
+FrictViscoPhys::~FrictViscoPhys(){};
+
+/********************** Ip2_FrictViscoMat_FrictMat_FrictViscoPhys ****************************/
+CREATE_LOGGER(Ip2_FrictViscoMat_FrictViscoMat_FrictViscoPhys);
+
+void Ip2_FrictViscoMat_FrictViscoMat_FrictViscoPhys::go(const shared_ptr<Material>& b1, const shared_ptr<Material>& b2, const shared_ptr<Interaction>& interaction){
+
+ LOG_TRACE( "Ip2_FrictViscoMat_FrictViscoMat_FrictViscoPhys::go - contact law" );
+
+ if(interaction->phys) return;
+ const shared_ptr<FrictViscoMat>& mat1 = YADE_PTR_CAST<FrictViscoMat>(b1);
+ const shared_ptr<FrictViscoMat>& mat2 = YADE_PTR_CAST<FrictViscoMat>(b2);
+ interaction->phys = shared_ptr<FrictViscoPhys>(new FrictViscoPhys());
+ const shared_ptr<FrictViscoPhys>& contactPhysics = YADE_PTR_CAST<FrictViscoPhys>(interaction->phys);
+ Real Ea = mat1->young;
+ Real Eb = mat2->young;
+ Real Va = mat1->poisson;
+ Real Vb = mat2->poisson;
+
+ Real Ra,Rb;
+ assert(dynamic_cast<GenericSpheresContact*>(interaction->geom.get()));//only in debug mode
+ GenericSpheresContact* sphCont=YADE_CAST<GenericSpheresContact*>(interaction->geom.get());
+ Ra=sphCont->refR1>0?sphCont->refR1:sphCont->refR2;
+ Rb=sphCont->refR2>0?sphCont->refR2:sphCont->refR1;
+
+ // calculate stiffness from MatchMaker or use harmonic avarage as usual if not given
+ Real Kn = (kn) ? (*kn)(mat1->id,mat2->id) : 2.*Ea*Ra*Eb*Rb/(Ea*Ra+Eb*Rb);
+ Real Ks = (kRatio) ? (*kRatio)(mat1->id,mat2->id)*Kn : 2.*Ea*Ra*Va*Eb*Rb*Vb/(Ea*Ra*Va+Eb*Rb*Vb);
+
+ Real frictionAngle = (!frictAngle) ? std::min(mat1->frictionAngle,mat2->frictionAngle) : (*frictAngle)(mat1->id,mat2->id,mat1->frictionAngle,mat2->frictionAngle);
+ contactPhysics->tangensOfFrictionAngle = std::tan(frictionAngle);
+ contactPhysics->kn = Kn;
+ contactPhysics->ks = Ks;
+
+ /************************/
+ /* DAMPING COEFFICIENTS */
+ /************************/
+ Real betana = mat1->betan;
+ Real betanb = mat2->betan;
+
+ // inclusion of local viscous damping
+ if (betana!=0 || betanb!=0){
+ Body::id_t ida = interaction->getId1(); // get id body 1
+ Body::id_t idb = interaction->getId2(); // get id body 2
+ State* dea = Body::byId(ida,scene)->state.get();
+ State* deb = Body::byId(idb,scene)->state.get();
+ const shared_ptr<Body>& ba=Body::byId(ida,scene);
+ const shared_ptr<Body>& bb=Body::byId(idb,scene);
+ Real mbar = (!ba->isDynamic() && bb->isDynamic()) ? deb->mass : ((!bb->isDynamic() && ba->isDynamic()) ? dea->mass : (dea->mass*deb->mass / (dea->mass + deb->mass))); // get equivalent mass if both bodies are dynamic, if not set it equal to the one of the dynamic body
+ TRVAR2(Kn,mbar);
+ contactPhysics->cn_crit = 2.*sqrt(mbar*Kn); // Critical damping coefficient (normal direction)
+ contactPhysics->cn = contactPhysics->cn_crit * ( (betana!=0 && betanb!=0) ? ((betana+betanb)/2.) : ( (betanb==0) ? betana : betanb )); // Damping normal coefficient
+ }
+ else
+ contactPhysics->cn=0.;
+ TRVAR1(contactPhysics->cn);
+
+}
+
+/********************** Ip2_FrictViscoMat_FrictMat_FrictViscoPhys ****************************/
+CREATE_LOGGER(Ip2_FrictMat_FrictViscoMat_FrictViscoPhys);
+
+void Ip2_FrictMat_FrictViscoMat_FrictViscoPhys::go(const shared_ptr<Material>& b1, const shared_ptr<Material>& b2, const shared_ptr<Interaction>& interaction){
+
+ LOG_TRACE( "Ip2_FrictMat_FrictViscoMat_FrictViscoPhys::go - contact law" );
+
+ if(interaction->phys) return;
+ const shared_ptr<FrictMat>& mat1 = YADE_PTR_CAST<FrictMat>(b1);
+ const shared_ptr<FrictViscoMat>& mat2 = YADE_PTR_CAST<FrictViscoMat>(b2);
+ interaction->phys = shared_ptr<FrictViscoPhys>(new FrictViscoPhys());
+ const shared_ptr<FrictViscoPhys>& contactPhysics = YADE_PTR_CAST<FrictViscoPhys>(interaction->phys);
+ Real Ea = mat1->young;
+ Real Eb = mat2->young;
+ Real Va = mat1->poisson;
+ Real Vb = mat2->poisson;
+
+ Real Ra,Rb;
+ assert(dynamic_cast<GenericSpheresContact*>(interaction->geom.get()));//only in debug mode
+ GenericSpheresContact* sphCont=YADE_CAST<GenericSpheresContact*>(interaction->geom.get());
+ Ra=sphCont->refR1>0?sphCont->refR1:sphCont->refR2;
+ Rb=sphCont->refR2>0?sphCont->refR2:sphCont->refR1;
+
+ // calculate stiffness from MatchMaker or use harmonic avarage as usual if not given
+ Real Kn = (kn) ? (*kn)(mat1->id,mat2->id) : 2.*Ea*Ra*Eb*Rb/(Ea*Ra+Eb*Rb);
+ Real Ks = (kRatio) ? (*kRatio)(mat1->id,mat2->id)*Kn : 2.*Ea*Ra*Va*Eb*Rb*Vb/(Ea*Ra*Va+Eb*Rb*Vb);
+
+ Real frictionAngle = (!frictAngle) ? std::min(mat1->frictionAngle,mat2->frictionAngle) : (*frictAngle)(mat1->id,mat2->id,mat1->frictionAngle,mat2->frictionAngle);
+ contactPhysics->tangensOfFrictionAngle = std::tan(frictionAngle);
+ contactPhysics->kn = Kn;
+ contactPhysics->ks = Ks;
+
+ /************************/
+ /* DAMPING COEFFICIENTS */
+ /************************/
+ Real betanb = mat2->betan;
+
+ // inclusion of local viscous damping
+ if (betanb!=0){
+ Body::id_t ida = interaction->getId1(); // get id body 1
+ Body::id_t idb = interaction->getId2(); // get id body 2
+ State* dea = Body::byId(ida,scene)->state.get();
+ State* deb = Body::byId(idb,scene)->state.get();
+ const shared_ptr<Body>& ba=Body::byId(ida,scene);
+ const shared_ptr<Body>& bb=Body::byId(idb,scene);
+ Real mbar = (!ba->isDynamic() && bb->isDynamic()) ? deb->mass : ((!bb->isDynamic() && ba->isDynamic()) ? dea->mass : (dea->mass*deb->mass / (dea->mass + deb->mass))); // get equivalent mass if both bodies are dynamic, if not set it equal to the one of the dynamic body
+ TRVAR2(Kn,mbar);
+ contactPhysics->cn_crit = 2.*sqrt(mbar*Kn); // Critical damping coefficient (normal direction)
+ contactPhysics->cn = contactPhysics->cn_crit * betanb; // Damping normal coefficient
+ }
+ else
+ contactPhysics->cn=0.;
+ TRVAR1(contactPhysics->cn);
+
+}
+
+/********************** Law2_ScGeom_FrictViscoPhys_CundallStrackVisco ****************************/
+
+// #if 1
+Real Law2_ScGeom_FrictViscoPhys_CundallStrackVisco::getPlasticDissipation() {return (Real) plasticDissipation;}
+void Law2_ScGeom_FrictViscoPhys_CundallStrackVisco::initPlasticDissipation(Real initVal) {plasticDissipation.reset(); plasticDissipation+=initVal;}
+Real Law2_ScGeom_FrictViscoPhys_CundallStrackVisco::elasticEnergy()
+{
+ Real energy=0;
+ FOREACH(const shared_ptr<Interaction>& I, *scene->interactions){
+ if(!I->isReal()) continue;
+ FrictPhys* phys = dynamic_cast<FrictPhys*>(I->phys.get());
+ if(phys) {
+ energy += 0.5*(phys->normalForce.squaredNorm()/phys->kn + phys->shearForce.squaredNorm()/phys->ks);}
+ }
+ return energy;
+}
+// #endif
+
+
+CREATE_LOGGER(Law2_ScGeom_FrictViscoPhys_CundallStrackVisco);
+
+void Law2_ScGeom_FrictViscoPhys_CundallStrackVisco::go(shared_ptr<IGeom>& ig, shared_ptr<IPhys>& ip, Interaction* contact)
+{
+ LOG_TRACE( "Law2_ScGeom_FrictViscoPhys_CundallStrackVisco::go - create interaction physics" );
+
+ int id1 = contact->getId1(), id2 = contact->getId2();
+
+ ScGeom* geom= static_cast<ScGeom*>(ig.get());
+ FrictViscoPhys* phys = static_cast<FrictViscoPhys*>(ip.get());
+ if(geom->penetrationDepth <0){
+ if (neverErase) {
+ phys->shearForce = Vector3r::Zero();
+ phys->normalForce = Vector3r::Zero();}
+ else scene->interactions->requestErase(contact);
+ return;
+ }
+ Real& un=geom->penetrationDepth;
+ phys->normalForce = phys->kn*std::max(un,(Real) 0) * geom->normal;
+
+ /************************/
+ /* DAMPING CONTRIBUTION */
+ /************************/
+
+ // define shifts to handle periodicity
+ const Vector3r shift2 = scene->isPeriodic ? scene->cell->intrShiftPos(contact->cellDist): Vector3r::Zero();
+ const Vector3r shiftVel = scene->isPeriodic ? scene->cell->intrShiftVel(contact->cellDist): Vector3r::Zero();
+
+ State* de1 = Body::byId(id1,scene)->state.get();
+ State* de2 = Body::byId(id2,scene)->state.get();
+
+ // get incident velocity
+ Vector3r incidentV = geom->getIncidentVel(de1, de2, scene->dt, shift2, shiftVel);
+ Vector3r incidentVn = geom->normal.dot(incidentV)*geom->normal; // contact normal velocity
+ phys->normalViscous = phys->cn*incidentVn;
+ phys->normalForce -= phys->normalViscous;
+
+ // shear force
+ Vector3r& shearForce = geom->rotate(phys->shearForce);
+ const Vector3r& shearDisp = geom->shearIncrement();
+ shearForce -= phys->ks*shearDisp;
+ Real maxFs = phys->normalForce.squaredNorm()*std::pow(phys->tangensOfFrictionAngle,2);
+
+ if (!scene->trackEnergy && !traceEnergy){//Update force but don't compute energy terms (see below))
+ // PFC3d SlipModel, is using friction angle. CoulombCriterion
+ if( shearForce.squaredNorm() > maxFs ){
+ Real ratio = sqrt(maxFs) / shearForce.norm();
+ shearForce *= ratio;}
+ } else {
+ //almost the same with additional Vector3r instatinated for energy tracing,
+ //duplicated block to make sure there is no cost for the instanciation of the vector when traceEnergy==false
+ if(shearForce.squaredNorm() > maxFs){
+ Real ratio = sqrt(maxFs) / shearForce.norm();
+ Vector3r trialForce=shearForce;//store prev force for definition of plastic slip
+ //define the plastic work input and increment the total plastic energy dissipated
+ shearForce *= ratio;
+ Real dissip=((1/phys->ks)*(trialForce-shearForce))/*plastic disp*/ .dot(shearForce)/*active force*/;
+ if (traceEnergy) plasticDissipation += dissip;
+ else if(dissip>0) scene->energy->add(dissip,"plastDissip",plastDissipIx,/*reset*/false);
+ }
+ // compute elastic energy as well
+ scene->energy->add(0.5*(phys->normalForce.squaredNorm()/phys->kn+phys->shearForce.squaredNorm()/phys->ks),"elastPotential",elastPotentialIx,/*reset at every timestep*/true);
+ }
+ if (!scene->isPeriodic && !sphericalBodies) {
+ applyForceAtContactPoint(-phys->normalForce-shearForce, geom->contactPoint, id1, de1->se3.position, id2, de2->se3.position);}
+ else {//we need to use correct branches in the periodic case, the following apply for spheres only
+ Vector3r force = -phys->normalForce-shearForce;
+ scene->forces.addForce(id1,force);
+ scene->forces.addForce(id2,-force);
+ scene->forces.addTorque(id1,(geom->radius1-0.5*geom->penetrationDepth)* geom->normal.cross(force));
+ scene->forces.addTorque(id2,(geom->radius2-0.5*geom->penetrationDepth)* geom->normal.cross(force));
+ }
+}
+
=== added file 'pkg/dem/FrictViscoPM.hpp'
--- pkg/dem/FrictViscoPM.hpp 1970-01-01 00:00:00 +0000
+++ pkg/dem/FrictViscoPM.hpp 2014-01-24 21:59:41 +0000
@@ -0,0 +1,120 @@
+/*************************************************************************
+* Copyright (C) 2014 by Klaus Thoeni *
+* klaus.thoeni@xxxxxxxxxxxxxxxx *
+* *
+* This program is free software; it is licensed under the terms of the *
+* GNU General Public License v2 or later. See file LICENSE for details. *
+*************************************************************************/
+
+/**
+=== OVERVIEW OF FrictViscoPM ===
+
+A particle model for friction and viscous damping in normal direction. The damping coefficient
+has to be defined with the material whereas the contact stiffness kn and ks/kn can be defined with the Ip2 functor.
+
+Remarks:
+- maybe there is a better way of implementing this without copying from ElasticContactLaw
+- maybe we can combine some ideas of this contact law with other contact laws
+*/
+
+#pragma once
+
+#include<yade/pkg/common/ElastMat.hpp>
+#include<yade/pkg/common/Dispatching.hpp>
+#include<yade/pkg/common/MatchMaker.hpp>
+#include<yade/pkg/dem/FrictPhys.hpp>
+#include<yade/pkg/dem/ScGeom.hpp>
+#include<yade/lib/base/openmp-accu.hpp>
+
+#include<set>
+#include<boost/tuple/tuple.hpp>
+
+/** This class holds information associated with each body */
+class FrictViscoMat: public FrictMat {
+ public:
+ virtual ~FrictViscoMat();
+ YADE_CLASS_BASE_DOC_ATTRS_CTOR(FrictViscoMat,FrictMat,"Material for use with the FrictViscoPM classes",
+ ((Real,betan,0.,,"Fraction of the viscous damping coefficient in normal direction equal to $\\frac{c_{n}}{C_{n,crit}}$."))
+ ,
+ createIndex();
+ );
+ DECLARE_LOGGER;
+ REGISTER_CLASS_INDEX(FrictViscoMat,FrictMat);
+};
+REGISTER_SERIALIZABLE(FrictViscoMat);
+
+
+/** This class holds information associated with each interaction */
+class FrictViscoPhys: public FrictPhys {
+ public:
+ virtual ~FrictViscoPhys();
+ YADE_CLASS_BASE_DOC_ATTRS_CTOR_PY(FrictViscoPhys,FrictPhys,"Representation of a single interaction of the FrictViscoPM type, storage for relevant parameters",
+ ((Real,cn_crit,NaN,,"Normal viscous constant for ctitical damping defined as $\\c_{n}=C_{n,crit}\\beta_n$."))
+ ((Real,cn,NaN,,"Normal viscous constant defined as $\\c_{n}=c_{n,crit}\\beta_n$."))
+ ((Vector3r,normalViscous,Vector3r::Zero(),,"Normal viscous component"))
+ ,
+ createIndex();
+ ,
+ );
+ DECLARE_LOGGER;
+ REGISTER_CLASS_INDEX(FrictViscoPhys,FrictPhys);
+};
+REGISTER_SERIALIZABLE(FrictViscoPhys);
+
+/** 2d functor creating IPhys (Ip2) taking FrictViscoMat and FrictViscoMat of 2 bodies, returning type FrictViscoPhys */
+class Ip2_FrictViscoMat_FrictViscoMat_FrictViscoPhys: public IPhysFunctor{
+ public:
+ virtual void go(const shared_ptr<Material>& pp1, const shared_ptr<Material>& pp2, const shared_ptr<Interaction>& interaction);
+
+ FUNCTOR2D(FrictViscoMat,FrictViscoMat);
+
+ YADE_CLASS_BASE_DOC_ATTRS(Ip2_FrictViscoMat_FrictViscoMat_FrictViscoPhys,IPhysFunctor,"Converts 2 :yref:`FrictViscoMat` instances to :yref:`FrictViscoPhys` with corresponding parameters. Basically this functor corresponds to :yref:`Ip2_FrictMat_FrictMat_FrictPhys` with the only difference that damping in normal direction can be considered.",
+ ((shared_ptr<MatchMaker>,kn,,,"Instance of :yref:`MatchMaker` determining how to compute interaction's normal contact stiffnesses. If this value is not given the elastic properties (i.e. young) of the two colliding materials are used to calculate the stiffness."))
+ ((shared_ptr<MatchMaker>,kRatio,,,"Instance of :yref:`MatchMaker` determining how to compute interaction's shear contact stiffnesses. If this value is not given the elastic properties (i.e. poisson) of the two colliding materials are used to calculate the stiffness."))
+ ((shared_ptr<MatchMaker>,frictAngle,,,"Instance of :yref:`MatchMaker` determining how to compute interaction's friction angle. If ``None``, minimum value is used."))
+ );
+ DECLARE_LOGGER;
+};
+REGISTER_SERIALIZABLE(Ip2_FrictViscoMat_FrictViscoMat_FrictViscoPhys);
+
+/** 2d functor creating IPhys (Ip2) taking FrictMat and FrictViscoMat of 2 bodies, returning type FrictViscoPhys */
+class Ip2_FrictMat_FrictViscoMat_FrictViscoPhys: public IPhysFunctor{
+ public:
+ virtual void go(const shared_ptr<Material>& pp1, const shared_ptr<Material>& pp2, const shared_ptr<Interaction>& interaction);
+
+ FUNCTOR2D(FrictMat,FrictViscoMat);
+
+ YADE_CLASS_BASE_DOC_ATTRS(Ip2_FrictMat_FrictViscoMat_FrictViscoPhys,IPhysFunctor,"Converts a :yref:`FrictMat` and :yref:`FrictViscoMat` instance to :yref:`FrictViscoPhys` with corresponding parameters. Basically this functor corresponds to :yref:`Ip2_FrictMat_FrictMat_FrictPhys` with the only difference that damping in normal direction can be considered.",
+ ((shared_ptr<MatchMaker>,kn,,,"Instance of :yref:`MatchMaker` determining how to compute interaction's normal contact stiffnesses. If this value is not given the elastic properties (i.e. young) of the two colliding materials are used to calculate the stiffness."))
+ ((shared_ptr<MatchMaker>,kRatio,,,"Instance of :yref:`MatchMaker` determining how to compute interaction's shear contact stiffnesses. If this value is not given the elastic properties (i.e. poisson) of the two colliding materials are used to calculate the stiffness."))
+ ((shared_ptr<MatchMaker>,frictAngle,,,"Instance of :yref:`MatchMaker` determining how to compute interaction's friction angle. If ``None``, minimum value is used."))
+ );
+ DECLARE_LOGGER;
+};
+REGISTER_SERIALIZABLE(Ip2_FrictMat_FrictViscoMat_FrictViscoPhys);
+
+/** 2d functor creating the interaction law (Law2) based on SphereContactGeometry (ScGeom) and FrictViscoPhys of 2 bodies, returning type FrictViscoPM */
+class Law2_ScGeom_FrictViscoPhys_CundallStrackVisco: public LawFunctor{
+ public:
+ OpenMPAccumulator<Real> plasticDissipation;
+ virtual void go(shared_ptr<IGeom>& _geom, shared_ptr<IPhys>& _phys, Interaction* I);
+ Real elasticEnergy ();
+ Real getPlasticDissipation();
+ void initPlasticDissipation(Real initVal=0);
+ YADE_CLASS_BASE_DOC_ATTRS_CTOR_PY(Law2_ScGeom_FrictViscoPhys_CundallStrackVisco,LawFunctor,"Constitutive law for the FrictViscoPM. Corresponds to :yref:`Law2_ScGeom_FrictPhys_CundallStrack` with the only difference that viscous damping in normal direction can be considered.",
+ ((bool,neverErase,false,,"Keep interactions even if particles go away from each other (only in case another constitutive law is in the scene, e.g. :yref:`Law2_ScGeom_CapillaryPhys_Capillarity`)"))
+ ((bool,sphericalBodies,true,,"If true, compute branch vectors from radii (faster), else use contactPoint-position. Turning this flag true is safe for sphere-sphere contacts and a few other specific cases. It will give wrong values of torques on facets or boxes."))
+ ((bool,traceEnergy,false,,"Define the total energy dissipated in plastic slips at all contacts. This will trace only plastic energy in this law, see O.trackEnergy for a more complete energies tracing"))
+ ((int,plastDissipIx,-1,(Attr::hidden|Attr::noSave),"Index for plastic dissipation (with O.trackEnergy)"))
+ ((int,elastPotentialIx,-1,(Attr::hidden|Attr::noSave),"Index for elastic potential energy (with O.trackEnergy)"))
+ ,,
+ .def("elasticEnergy",&Law2_ScGeom_FrictViscoPhys_CundallStrackVisco::elasticEnergy,"Compute and return the total elastic energy in all \"FrictViscoPhys\" contacts")
+ .def("plasticDissipation",&Law2_ScGeom_FrictViscoPhys_CundallStrackVisco::getPlasticDissipation,"Total energy dissipated in plastic slips at all FrictPhys contacts. Computed only if :yref:Law2_ScGeom_FrictViscoPhys_CundallStrackVisco::traceEnergy` is true.")
+ .def("initPlasticDissipation",&Law2_ScGeom_FrictViscoPhys_CundallStrackVisco::initPlasticDissipation,"Initialize cummulated plastic dissipation to a value (0 by default).")
+ );
+ FUNCTOR2D(ScGeom,FrictViscoPhys);
+ DECLARE_LOGGER;
+};
+REGISTER_SERIALIZABLE(Law2_ScGeom_FrictViscoPhys_CundallStrackVisco);
+
+
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