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Message #10815
[Branch ~yade-pkg/yade/git-trunk] Rev 3952: Add mask parameter to NewtonIntegrator
------------------------------------------------------------
revno: 3952
committer: Anton Gladky <gladky.anton@xxxxxxxxx>
timestamp: Thu 2014-05-15 16:47:33 +0200
message:
Add mask parameter to NewtonIntegrator
It is done to replace State.blockedMovement, which was
discussed here
http://www.mail-archive.com/yade-dev@xxxxxxxxxxxxxxxxxxx/msg10131.html
Thanks, Bruno.
removed:
examples/Conveyor/
examples/Conveyor/Conveyor.py
examples/Conveyor/conveyor.geo
examples/Conveyor/conveyor.mesh
added:
examples/conveyor/
examples/conveyor/conveyor.geo
examples/conveyor/conveyor.mesh
examples/conveyor/conveyor.py
modified:
core/State.hpp
pkg/dem/NewtonIntegrator.cpp
pkg/dem/NewtonIntegrator.hpp
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=== modified file 'core/State.hpp'
--- core/State.hpp 2014-05-13 18:54:16 +0000
+++ core/State.hpp 2014-05-15 14:47:33 +0000
@@ -60,7 +60,6 @@
((Vector3r,refPos,Vector3r::Zero(),,"Reference position"))
((Quaternionr,refOri,Quaternionr::Identity(),,"Reference orientation"))
((unsigned,blockedDOFs,,,"[Will be overridden]"))
- ((bool,blockedMovement,false,,"If True, the body will not move/rotate. But can have a linear and angular velocity"))
((bool,isDamped,true,,"Damping in :yref:`Newtonintegrator` can be deactivated for individual particles by setting this variable to FALSE. E.g. damping is inappropriate for particles in free flight under gravity but it might still be applicable to other particles in the same simulation."))
((Real,densityScaling,1,,"|yupdate| see :yref:`GlobalStiffnessTimeStepper::targetDt`.")),
/* additional initializers */
=== removed directory 'examples/Conveyor'
=== removed file 'examples/Conveyor/Conveyor.py'
--- examples/Conveyor/Conveyor.py 2014-05-14 09:34:27 +0000
+++ examples/Conveyor/Conveyor.py 1970-01-01 00:00:00 +0000
@@ -1,52 +0,0 @@
-#!/usr/bin/python
-# -*- coding: utf-8 -*-
-# This example shows, how one can simulate the conveyor of
-# complex form, using state.blockedMovement parameter
-# The elements of conveyor are getting the velocity, but
-# are blocked from motion. So the interacting particles
-# are getting motion from interaction with conveyor.
-
-## PhysicalParameters
-Density=1000
-frictionAngle=0.4
-tc = 0.001
-en = 0.3
-es = 0.3
-
-
-## Import wall's geometry
-mat=O.materials.append(ViscElMat(density=Density,frictionAngle=frictionAngle,tc=tc,en=en,et=es))
-
-sp=pack.SpherePack()
-sp.makeCloud((-0.3,0.05,0.05),(0.3,0.7,0.5),rMean=0.03, rRelFuzz=0.001)
-particles=O.bodies.append([sphere(c,r,) for c,r in sp])
-
-from yade import ymport
-fctIds= O.bodies.append(ymport.gmsh('conveyor.mesh',scale=0.001,color=(1,0,0)))
-voxIds= O.bodies.append(utils.geom.facetBunker(center=[0,1.5,-0.7],dBunker=1.1, dOutput=0.2,hBunker=0.2,hOutput=0.2,hPipe=0.1))
-
-for i in fctIds:
- O.bodies[i].state.vel=Vector3(0,0.2,0) # Set conveyor velocity
- O.bodies[i].state.blockedMovement=True
-
-## Timestep
-O.dt=.2*tc
-
-## Engines
-O.engines=[
- ForceResetter(),
- InsertionSortCollider([Bo1_Sphere_Aabb(),Bo1_Facet_Aabb()]),
- InteractionLoop(
- [Ig2_Sphere_Sphere_ScGeom(), Ig2_Facet_Sphere_ScGeom()],
- [Ip2_ViscElMat_ViscElMat_ViscElPhys()],
- [Law2_ScGeom_ViscElPhys_Basic()],
- ),
- NewtonIntegrator(damping=0,gravity=[0,0,-9.81]),
- DomainLimiter(lo=(-0.6,0.0,-1.0),hi=(0.6,2.0,1.0),iterPeriod=200),
-]
-
-from yade import qt
-qt.View()
-#O.saveTmp()
-#O.run()
-
=== removed file 'examples/Conveyor/conveyor.geo'
--- examples/Conveyor/conveyor.geo 2014-05-14 09:34:27 +0000
+++ examples/Conveyor/conveyor.geo 1970-01-01 00:00:00 +0000
@@ -1,24 +0,0 @@
-acc = 100.0;
-wid = 500.0;
-len = 1500.0;
-h = 300.0;
-Point(1) = {0, 0, -wid/5.0, acc};
-Point(2) = {-wid, 0, 0, acc};
-Point(3) = {wid, 0, 0, acc};
-Point(4) = {wid/1.1, 0, -wid/10.0, acc};
-Point(5) = {-wid/1.1, 0, -wid/10.0, acc};
-Point(6) = {wid/2.0, 0, +wid/10.0, acc};
-Point(7) = {-wid/2.0, 0, +wid/10.0, acc};
-Point(8) = {-wid, 0, h, acc};
-Point(9) = {wid, 0, h, acc};
-
-Spline(1) = {2, 5, 7, 1, 6, 4, 3};
-Line(2) = {8, 2};
-Line(3) = {3, 9};
-
-Extrude {0, len, 0} {
- Line{2, 1, 3};
-}
-Line(16) = {8, 9};
-Line Loop(17) = {16, -3, -1, -2};
-Plane Surface(18) = {17};
=== removed file 'examples/Conveyor/conveyor.mesh'
--- examples/Conveyor/conveyor.mesh 2014-05-14 09:34:27 +0000
+++ examples/Conveyor/conveyor.mesh 1970-01-01 00:00:00 +0000
@@ -1,1360 +0,0 @@
- MeshVersionFormatted 2
- Dimension
- 3
- Vertices
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- End
=== added directory 'examples/conveyor'
=== added file 'examples/conveyor/conveyor.geo'
--- examples/conveyor/conveyor.geo 1970-01-01 00:00:00 +0000
+++ examples/conveyor/conveyor.geo 2014-05-15 14:47:33 +0000
@@ -0,0 +1,24 @@
+acc = 100.0;
+wid = 500.0;
+len = 1500.0;
+h = 300.0;
+Point(1) = {0, 0, -wid/5.0, acc};
+Point(2) = {-wid, 0, 0, acc};
+Point(3) = {wid, 0, 0, acc};
+Point(4) = {wid/1.1, 0, -wid/10.0, acc};
+Point(5) = {-wid/1.1, 0, -wid/10.0, acc};
+Point(6) = {wid/2.0, 0, +wid/10.0, acc};
+Point(7) = {-wid/2.0, 0, +wid/10.0, acc};
+Point(8) = {-wid, 0, h, acc};
+Point(9) = {wid, 0, h, acc};
+
+Spline(1) = {2, 5, 7, 1, 6, 4, 3};
+Line(2) = {8, 2};
+Line(3) = {3, 9};
+
+Extrude {0, len, 0} {
+ Line{2, 1, 3};
+}
+Line(16) = {8, 9};
+Line Loop(17) = {16, -3, -1, -2};
+Plane Surface(18) = {17};
=== added file 'examples/conveyor/conveyor.mesh'
--- examples/conveyor/conveyor.mesh 1970-01-01 00:00:00 +0000
+++ examples/conveyor/conveyor.mesh 2014-05-15 14:47:33 +0000
@@ -0,0 +1,1360 @@
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+ Dimension
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+ 106 401 382 15
+ 401 379 382 15
+ 379 401 92 15
+ 389 384 374 15
+ 391 375 384 15
+ 375 390 384 15
+ 391 384 389 15
+ 372 402 400 15
+ 403 86 374 15
+ 403 384 87 15
+ 384 403 374 15
+ 86 403 87 15
+ 101 402 100 15
+ 101 400 402 15
+ 399 402 372 15
+ 85 374 86 15
+ 82 405 83 15
+ 404 98 99 15
+ 99 100 404 15
+ 399 404 402 15
+ 404 399 373 15
+ 100 402 404 15
+ 405 82 387 15
+ 371 405 387 15
+ 373 405 371 15
+ 98 404 388 15
+ 404 371 388 15
+ 404 373 371 15
+ 83 406 84 15
+ 406 399 372 15
+ 406 373 399 15
+ 406 83 405 15
+ 405 373 406 15
+ 85 407 374 15
+ 372 407 406 15
+ 407 372 374 15
+ 84 407 85 15
+ 84 406 407 15
+ 22 421 417 18
+ 27 416 420 18
+ 409 417 421 18
+ 410 420 416 18
+ 408 441 415 18
+ 408 415 440 18
+ 408 440 417 18
+ 408 416 441 18
+ 108 109 413 18
+ 113 114 414 18
+ 24 415 25 18
+ 408 419 418 18
+ 409 413 430 18
+ 410 431 414 18
+ 409 421 413 18
+ 410 414 420 18
+ 109 430 413 18
+ 113 414 431 18
+ 26 416 27 18
+ 22 417 23 18
+ 2 32 428 18
+ 3 429 33 18
+ 111 112 418 18
+ 108 413 432 18
+ 114 433 414 18
+ 112 431 418 18
+ 408 434 419 18
+ 111 418 419 18
+ 410 418 431 18
+ 25 415 441 18
+ 24 440 415 18
+ 110 111 419 18
+ 107 432 427 18
+ 115 426 433 18
+ 9 34 426 18
+ 9 426 115 18
+ 8 427 31 18
+ 8 107 427 18
+ 408 417 434 18
+ 408 435 416 18
+ 107 108 432 18
+ 114 115 433 18
+ 27 420 28 18
+ 21 421 22 18
+ 29 429 30 18
+ 19 428 20 18
+ 409 430 419 18
+ 25 441 26 18
+ 23 440 24 18
+ 26 441 416 18
+ 23 417 440 18
+ 32 422 428 18
+ 33 429 423 18
+ 110 419 430 18
+ 410 435 418 18
+ 411 432 425 18
+ 412 424 433 18
+ 413 425 432 18
+ 414 433 424 18
+ 408 418 435 18
+ 410 416 435 18
+ 409 434 417 18
+ 411 427 432 18
+ 412 433 426 18
+ 409 419 434 18
+ 2 428 19 18
+ 3 30 429 18
+ 28 420 424 18
+ 21 425 421 18
+ 109 110 430 18
+ 112 113 431 18
+ 411 439 422 18
+ 412 423 438 18
+ 413 421 425 18
+ 414 424 420 18
+ 20 428 422 18
+ 29 423 429 18
+ 28 438 29 18
+ 20 439 21 18
+ 33 437 34 18
+ 31 436 32 18
+ 411 422 436 18
+ 412 437 423 18
+ 20 422 439 18
+ 29 438 423 18
+ 411 425 439 18
+ 412 438 424 18
+ 32 436 422 18
+ 33 423 437 18
+ 411 436 427 18
+ 412 426 437 18
+ 28 424 438 18
+ 21 439 425 18
+ 31 427 436 18
+ 34 437 426 18
+ End
=== added file 'examples/conveyor/conveyor.py'
--- examples/conveyor/conveyor.py 1970-01-01 00:00:00 +0000
+++ examples/conveyor/conveyor.py 2014-05-15 14:47:33 +0000
@@ -0,0 +1,55 @@
+#!/usr/bin/python
+# -*- coding: utf-8 -*-
+# This example shows, how one can simulate the conveyor of
+# complex form, using mask-parameter in NewtonIntegrator.
+# The elements of conveyor are getting the velocity, but
+# are blocked from motion.
+# Conveyor element have a groupMask=5 which is after bitwise AND
+# operator with mask=2 in NewtonIntegrator gives 0 and prevents motion.
+#
+# So the interacting particles are getting motion from interaction
+# with conveyor
+
+## PhysicalParameters
+Density=1000
+frictionAngle=0.4
+tc = 0.001
+en = 0.3
+es = 0.3
+
+
+## Import wall's geometry
+mat=O.materials.append(ViscElMat(density=Density,frictionAngle=frictionAngle,tc=tc,en=en,et=es))
+
+sp=pack.SpherePack()
+sp.makeCloud((-0.3,0.05,0.05),(0.3,0.7,0.5),rMean=0.03, rRelFuzz=0.001)
+particles=O.bodies.append([sphere(c,r,mask=3) for c,r in sp])
+
+from yade import ymport
+fctIds= O.bodies.append(ymport.gmsh('conveyor.mesh',scale=0.001,color=(1,0,0)))
+voxIds= O.bodies.append(utils.geom.facetBunker(center=[0,1.5,-0.7],dBunker=1.1, dOutput=0.2,hBunker=0.2,hOutput=0.2,hPipe=0.1, mask=5))
+
+for i in fctIds:
+ O.bodies[i].state.vel=Vector3(0,0.2,0) # Set conveyor velocity
+
+## Timestep
+O.dt=.2*tc
+
+## Engines
+O.engines=[
+ ForceResetter(),
+ InsertionSortCollider([Bo1_Sphere_Aabb(),Bo1_Facet_Aabb()]),
+ InteractionLoop(
+ [Ig2_Sphere_Sphere_ScGeom(), Ig2_Facet_Sphere_ScGeom()],
+ [Ip2_ViscElMat_ViscElMat_ViscElPhys()],
+ [Law2_ScGeom_ViscElPhys_Basic()],
+ ),
+ NewtonIntegrator(damping=0,gravity=[0,0,-9.81], mask=2),
+ DomainLimiter(lo=(-0.6,0.0,-1.0),hi=(0.6,2.0,1.0),iterPeriod=200),
+]
+
+from yade import qt
+qt.View()
+#O.saveTmp()
+#O.run()
+
=== modified file 'pkg/dem/NewtonIntegrator.cpp'
--- pkg/dem/NewtonIntegrator.cpp 2014-05-13 18:54:16 +0000
+++ pkg/dem/NewtonIntegrator.cpp 2014-05-15 14:47:33 +0000
@@ -226,7 +226,8 @@
//NOTE : dVel defined without wraping the coordinates means bodies out of the (0,0,0) period can move realy fast. It has to be compensated properly in the definition of relative velocities (see Ig2 functors and contact laws).
//Reflect mean-field (periodic cell) acceleration in the velocity
if(scene->isPeriodic && homoDeform) {Vector3r dVel=dVelGrad*state->pos; state->vel+=dVel;}
- if (not(state->blockedMovement)) {
+
+ if ( (mask<=0) or ((mask>0) and ((Body::byId(id)->groupMask & mask)!=0)) ) {
state->pos+=state->vel*dt;
}
}
@@ -234,12 +235,13 @@
void NewtonIntegrator::leapfrogSphericalRotate(State* state, const Body::id_t& id, const Real& dt )
{
Real angle2=state->angVel.squaredNorm();
- if (angle2!=0 and not(state->blockedMovement)) {//If we have an angular velocity, we make a rotation
+ if (angle2!=0 and ( (mask<=0) or ((mask>0) and ((Body::byId(id)->groupMask & mask)!=0)) )) {//If we have an angular velocity, we make a rotation
Real angle=sqrt(angle2);
Quaternionr q(AngleAxisr(angle*dt,state->angVel/angle));
state->ori = q*state->ori;
}
- if(scene->forces.getMoveRotUsed() && scene->forces.getRot(id)!=Vector3r::Zero() and not(state->blockedMovement)) {
+ if(scene->forces.getMoveRotUsed() && scene->forces.getRot(id)!=Vector3r::Zero()
+ and ( (mask<=0) or ((mask>0) and ((Body::byId(id)->groupMask & mask)!=0)) )) {
Vector3r r(scene->forces.getRot(id));
Real norm=r.norm(); r/=norm;
Quaternionr q(AngleAxisr(norm,r));
=== modified file 'pkg/dem/NewtonIntegrator.hpp'
--- pkg/dem/NewtonIntegrator.hpp 2013-09-26 09:03:43 +0000
+++ pkg/dem/NewtonIntegrator.hpp 2014-05-15 14:47:33 +0000
@@ -76,6 +76,7 @@
((int,kinEnergyIx,-1,(Attr::hidden|Attr::noSave),"Index for kinetic energy in scene->energies."))
((int,kinEnergyTransIx,-1,(Attr::hidden|Attr::noSave),"Index for translational kinetic energy in scene->energies."))
((int,kinEnergyRotIx,-1,(Attr::hidden|Attr::noSave),"Index for rotational kinetic energy in scene->energies."))
+ ((int,mask,-1,,"If mask defined and the bitwise AND between mask and body`s groupMask gives 0, the body will not move/rotate. Velocities and accelerations will be calculated not paying attention to this parameter."))
,
/*ctor*/
densityScaling=false;
