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Message #11560
[Branch ~yade-pkg/yade/git-trunk] Rev 3499: PolyhedraMat and PolyhedraPhys are now inherited from FrictMat and FrictPhys, modified related ex...
------------------------------------------------------------
revno: 3499
committer: Jan Stransky <jan.stransky@xxxxxxxxxxx>
timestamp: Wed 2014-10-22 12:13:18 +0200
message:
PolyhedraMat and PolyhedraPhys are now inherited from FrictMat and FrictPhys, modified related examples
Added Ig2_Sphere_Polyhedra_ScGeom
modified:
examples/polyhedra/ball.py
examples/polyhedra/free-fall.py
examples/polyhedra/irregular.py
examples/polyhedra/wall.py
pkg/dem/Polyhedra.cpp
pkg/dem/Polyhedra.hpp
pkg/dem/Polyhedra_Ig2.cpp
pkg/dem/Polyhedra_Ig2.hpp
py/_polyhedra_utils.cpp
py/utils.py
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=== modified file 'examples/polyhedra/ball.py'
--- examples/polyhedra/ball.py 2014-09-22 12:28:50 +0000
+++ examples/polyhedra/ball.py 2014-10-22 10:13:18 +0000
@@ -3,8 +3,8 @@
m = PolyhedraMat()
m.density = 2600 #kg/m^3
-m.Ks = 20000
-m.Kn = 1E6 #Pa
+m.young = 1E6 #Pa
+m.poisson = 20000/1E6
m.frictionAngle = 0.6 #rad
maxLoad = 3E6
=== modified file 'examples/polyhedra/free-fall.py'
--- examples/polyhedra/free-fall.py 2014-09-22 12:28:50 +0000
+++ examples/polyhedra/free-fall.py 2014-10-22 10:13:18 +0000
@@ -3,20 +3,20 @@
gravel = PolyhedraMat()
gravel.density = 2600 #kg/m^3
-gravel.Ks = 20000
-gravel.Kn = 1E7 #Pa
+gravel.young = 1E7 #Pa
+gravel.poisson = 20000/1E7
gravel.frictionAngle = 0.5 #rad
steel = PolyhedraMat()
steel.density = 7850 #kg/m^3
-steel.Ks = 10*gravel.Ks
-steel.Kn = 10*gravel.Kn
+steel.young = 10*gravel.young
+steel.poisson = gravel.poisson
steel.frictionAngle = 0.4 #rad
rubber = PolyhedraMat()
rubber.density = 1000 #kg/m^3
-rubber.Ks = gravel.Ks/10
-rubber.Kn = gravel.Kn/10
+rubber.young = gravel.young/10
+rubber.poisson = gravel.poisson
rubber.frictionAngle = 0.7 #rad
O.bodies.append(polyhedra_utils.polyhedra(gravel,v=((0,0,-0.05),(0.3,0,-0.05),(0.3,0.3,-0.05),(0,0.3,-0.05),(0,0,0),(0.3,0,0),(0.3,0.3,0),(0,0.3,0)),fixed=True, color=(0.35,0.35,0.35)))
=== modified file 'examples/polyhedra/irregular.py'
--- examples/polyhedra/irregular.py 2014-09-22 12:28:50 +0000
+++ examples/polyhedra/irregular.py 2014-10-22 10:13:18 +0000
@@ -16,8 +16,8 @@
m = PolyhedraMat()
m.density = 2600 #kg/m^3
-m.Ks = 20000
-m.Kn = 1E6 #Pa
+m.young = 1E6 #Pa
+m.poisson = 20000/1E6
m.frictionAngle = 0.6 #rad
O.bodies.append(utils.wall(0,axis=2,sense=1, material = m))
=== modified file 'examples/polyhedra/wall.py'
--- examples/polyhedra/wall.py 2014-09-22 12:28:50 +0000
+++ examples/polyhedra/wall.py 2014-10-22 10:13:18 +0000
@@ -5,8 +5,8 @@
m = PolyhedraMat()
m.density = 1000
-m.Ks = 5E6
-m.Kn = 5E8
+m.young = 5E8
+m.poisson = 5E6/5E8
m.frictionAngle = 0.7
size = 0.1;
=== modified file 'pkg/dem/Polyhedra.cpp'
--- pkg/dem/Polyhedra.cpp 2014-10-20 08:28:15 +0000
+++ pkg/dem/Polyhedra.cpp 2014-10-22 10:13:18 +0000
@@ -13,7 +13,7 @@
#define _USE_MATH_DEFINES
-YADE_PLUGIN(/* self-contained in hpp: */ (Polyhedra) (PolyhedraGeom) (Bo1_Polyhedra_Aabb) (PolyhedraPhys) (PolyhedraMat) (Ip2_PolyhedraMat_PolyhedraMat_PolyhedraPhys) (Law2_PolyhedraGeom_PolyhedraPhys_Volumetric)
+YADE_PLUGIN(/* self-contained in hpp: */ (Polyhedra) (PolyhedraGeom) (Bo1_Polyhedra_Aabb) (PolyhedraPhys) (PolyhedraMat) (Ip2_PolyhedraMat_PolyhedraMat_PolyhedraPhys) (Ip2_FrictMat_PolyhedraMat_FrictPhys) (Law2_PolyhedraGeom_PolyhedraPhys_Volumetric)
/* some code in cpp (this file): */
#ifdef YADE_OPENGL
(Gl1_Polyhedra) (Gl1_PolyhedraGeom) (Gl1_PolyhedraPhys)
@@ -398,16 +398,22 @@
const shared_ptr<PolyhedraMat>& mat2 = YADE_PTR_CAST<PolyhedraMat>(b2);
interaction->phys = shared_ptr<PolyhedraPhys>(new PolyhedraPhys());
const shared_ptr<PolyhedraPhys>& contactPhysics = YADE_PTR_CAST<PolyhedraPhys>(interaction->phys);
- Real Kna = mat1->Kn;
- Real Knb = mat2->Kn;
- Real Ksa = mat1->Ks;
- Real Ksb = mat2->Ks;
+ Real Kna = mat1->young;
+ Real Knb = mat2->young;
+ Real Ksa = mat1->young*mat1->poisson;
+ Real Ksb = mat2->young*mat2->poisson;
Real frictionAngle = std::min(mat1->frictionAngle,mat2->frictionAngle);
contactPhysics->tangensOfFrictionAngle = std::tan(frictionAngle);
contactPhysics->kn = Kna*Knb/(Kna+Knb);
contactPhysics->ks = Ksa*Ksb/(Ksa+Ksb);
};
+void Ip2_FrictMat_PolyhedraMat_FrictPhys::go(const shared_ptr<Material>& pp1, const shared_ptr<Material>& pp2, const shared_ptr<Interaction>& interaction){
+ const shared_ptr<FrictMat>& mat1 = YADE_PTR_CAST<FrictMat>(pp1);
+ const shared_ptr<PolyhedraMat>& mat2 = YADE_PTR_CAST<PolyhedraMat>(pp2);
+ Ip2_FrictMat_FrictMat_FrictPhys().go(mat1,mat2,interaction);
+}
+
//**************************************************************************************
#if 1
Real Law2_PolyhedraGeom_PolyhedraPhys_Volumetric::getPlasticDissipation() {return (Real) plasticDissipation;}
=== modified file 'pkg/dem/Polyhedra.hpp'
--- pkg/dem/Polyhedra.hpp 2014-10-20 08:28:15 +0000
+++ pkg/dem/Polyhedra.hpp 2014-10-22 10:13:18 +0000
@@ -25,6 +25,10 @@
#include <CGAL/convex_hull_3.h>
#include <CGAL/Tetrahedron_3.h>
#include <CGAL/linear_least_squares_fitting_3.h>
+#include <CGAL/AABB_tree.h>
+#include <CGAL/AABB_traits.h>
+#include <CGAL/AABB_triangle_primitive.h>
+#include <CGAL/squared_distance_3.h>
#include<time.h>
@@ -36,6 +40,7 @@
typedef CGAL::Polyhedron_3<K> Polyhedron;
typedef CGAL::Delaunay_triangulation_3<K> Triangulation;
typedef K::Point_3 CGALpoint;
+typedef K::Triangle_3 CGALtriangle;
typedef K::Vector_3 CGALvector;
typedef CGAL::Aff_transformation_3<K> Transformation;
typedef K::Segment_3 Segment;
@@ -43,6 +48,8 @@
typedef CGAL::Plane_3<K> Plane;
typedef CGAL::Line_3<K> Line;
typedef CGAL::Origin CGAL_ORIGIN;
+typedef CGAL::AABB_tree<CGAL::AABB_traits<K,CGAL::AABB_triangle_primitive<K,std::vector<Triangle>::iterator>>> CGAL_AABB_tree;
+
//**********************************************************************************
class Polyhedra: public Shape{
@@ -147,36 +154,29 @@
//***************************************************************************
/*! Elastic material */
-class PolyhedraMat: public Material{
+class PolyhedraMat: public FrictMat{
public:
- PolyhedraMat(Real N, Real S, Real F){Kn=N; Ks=S; frictionAngle=F;};
Real GetStrength(){return strength;};
virtual ~PolyhedraMat(){};
- YADE_CLASS_BASE_DOC_ATTRS_CTOR(PolyhedraMat,Material,"Elastic material with Coulomb friction.",
- ((Real,Kn,1e8,,"Normal 'stiffness' (N/m3 for Law_.._Volumetric, N/m for Law2_.._Simple)."))
- ((Real,Ks,1e5,,"Shear stiffness (N/m)."))
- ((Real,frictionAngle,.5,,"Contact friction angle (in radians)."))
+ YADE_CLASS_BASE_DOC_ATTRS_CTOR(PolyhedraMat,FrictMat,"Elastic material with Coulomb friction.",
((bool,IsSplitable,0,,"To be splitted ... or not"))
((Real,strength,100,,"Stress at whis polyhedra of volume 4/3*pi [mm] breaks.")),
/*ctor*/ createIndex();
);
- REGISTER_CLASS_INDEX(PolyhedraMat,Material);
+ REGISTER_CLASS_INDEX(PolyhedraMat,FrictMat);
};
REGISTER_SERIALIZABLE(PolyhedraMat);
//***************************************************************************
-class PolyhedraPhys: public IPhys{
+class PolyhedraPhys: public FrictPhys{
public:
virtual ~PolyhedraPhys(){};
- YADE_CLASS_BASE_DOC_ATTRS_CTOR(PolyhedraPhys,IPhys,"Simple elastic material with friction for volumetric constitutive laws",
- ((Real,kn,0,,"Normal stiffness"))
- ((Vector3r,normalForce,Vector3r::Zero(),,"Normal force after previous step (in global coordinates)."))
- ((Real,ks,0,,"Shear stiffness"))
- ((Vector3r,shearForce,Vector3r::Zero(),,"Shear force after previous step (in global coordinates)."))
- ((Real,tangensOfFrictionAngle,NaN,,"tangens of angle of internal friction")),
+ YADE_CLASS_BASE_DOC_ATTRS_CTOR(PolyhedraPhys,FrictPhys,"Simple elastic material with friction for volumetric constitutive laws",
+ /*attrs*/
+ ,
/*ctor*/ createIndex();
);
- REGISTER_CLASS_INDEX(PolyhedraPhys,IPhys);
+ REGISTER_CLASS_INDEX(PolyhedraPhys,FrictPhys);
};
REGISTER_SERIALIZABLE(PolyhedraPhys);
@@ -239,6 +239,17 @@
};
REGISTER_SERIALIZABLE(Ip2_PolyhedraMat_PolyhedraMat_PolyhedraPhys);
+class Ip2_FrictMat_PolyhedraMat_FrictPhys: public IPhysFunctor{
+ public:
+ virtual void go(const shared_ptr<Material>& b1,
+ const shared_ptr<Material>& b2,
+ const shared_ptr<Interaction>& interaction);
+ FUNCTOR2D(FrictMat,PolyhedraMat);
+ YADE_CLASS_BASE_DOC_ATTRS(Ip2_FrictMat_PolyhedraMat_FrictPhys,IPhysFunctor,"",
+ );
+};
+REGISTER_SERIALIZABLE(Ip2_FrictMat_PolyhedraMat_FrictPhys);
+
//***************************************************************************
/*! Calculate physical response based on penetration configuration given by PolyhedraGeom. */
=== modified file 'pkg/dem/Polyhedra_Ig2.cpp'
--- pkg/dem/Polyhedra_Ig2.cpp 2014-10-20 08:28:15 +0000
+++ pkg/dem/Polyhedra_Ig2.cpp 2014-10-22 10:13:18 +0000
@@ -5,21 +5,22 @@
#include"Polyhedra.hpp"
#include"Polyhedra_Ig2.hpp"
+#include<pkg/dem/ScGeom.hpp>
#define _USE_MATH_DEFINES
-YADE_PLUGIN(/* self-contained in hpp: */ (Ig2_Polyhedra_Polyhedra_PolyhedraGeom) (Ig2_Wall_Polyhedra_PolyhedraGeom) (Ig2_Facet_Polyhedra_PolyhedraGeom) );
+YADE_PLUGIN(/* self-contained in hpp: */ (Ig2_Polyhedra_Polyhedra_PolyhedraGeom) (Ig2_Wall_Polyhedra_PolyhedraGeom) (Ig2_Facet_Polyhedra_PolyhedraGeom) (Ig2_Sphere_Polyhedra_ScGeom) );
//**********************************************************************************
/*! Create Polyhedra (collision geometry) from colliding Polyhedras. */
-bool Ig2_Polyhedra_Polyhedra_PolyhedraGeom::go(const shared_ptr<Shape>& cm1,const shared_ptr<Shape>& cm2,const State& state1,const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& interaction){
+bool Ig2_Polyhedra_Polyhedra_PolyhedraGeom::go(const shared_ptr<Shape>& shape1,const shared_ptr<Shape>& shape2,const State& state1,const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& interaction){
//get polyhedras
const Se3r& se31=state1.se3;
const Se3r& se32=state2.se3;
- Polyhedra* A = static_cast<Polyhedra*>(cm1.get());
- Polyhedra* B = static_cast<Polyhedra*>(cm2.get());
+ Polyhedra* A = static_cast<Polyhedra*>(shape1.get());
+ Polyhedra* B = static_cast<Polyhedra*>(shape2.get());
bool isNew = !interaction->geom;
@@ -104,12 +105,12 @@
//**********************************************************************************
/*! Create Polyhedra (collision geometry) from colliding Polyhedron and Wall. */
-bool Ig2_Wall_Polyhedra_PolyhedraGeom::go(const shared_ptr<Shape>& cm1,const shared_ptr<Shape>& cm2,const State& state1,const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& interaction){
+bool Ig2_Wall_Polyhedra_PolyhedraGeom::go(const shared_ptr<Shape>& shape1,const shared_ptr<Shape>& shape2,const State& state1,const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& interaction){
- const int& PA(cm1->cast<Wall>().axis);
- const int& sense(cm1->cast<Wall>().sense);
+ const int& PA(shape1->cast<Wall>().axis);
+ const int& sense(shape1->cast<Wall>().sense);
const Se3r& se31=state1.se3; const Se3r& se32=state2.se3;
- Polyhedra* B = static_cast<Polyhedra*>(cm2.get());
+ Polyhedra* B = static_cast<Polyhedra*>(shape2.get());
bool isNew = !interaction->geom;
@@ -170,13 +171,13 @@
//**********************************************************************************
/*! Create Polyhedra (collision geometry) from colliding Polyhedron and Facet. */
-bool Ig2_Facet_Polyhedra_PolyhedraGeom::go(const shared_ptr<Shape>& cm1,const shared_ptr<Shape>& cm2,const State& state1,const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& interaction){
+bool Ig2_Facet_Polyhedra_PolyhedraGeom::go(const shared_ptr<Shape>& shape1,const shared_ptr<Shape>& shape2,const State& state1,const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& interaction){
const Se3r& se31=state1.se3;
const Se3r& se32=state2.se3;
- Facet* A = static_cast<Facet*>(cm1.get());
- Polyhedra* B = static_cast<Polyhedra*>(cm2.get());
+ Facet* A = static_cast<Facet*>(shape1.get());
+ Polyhedra* B = static_cast<Polyhedra*>(shape2.get());
bool isNew = !interaction->geom;
@@ -267,15 +268,137 @@
}
//**********************************************************************************
-/*! Create Polyhedra (collision geometry) from colliding Polyhedron and Wall. */
+/*! Create Polyhedra (collision geometry) from colliding Polyhedron and Sphere. */
+
+bool Ig2_Sphere_Polyhedra_ScGeom::go(const shared_ptr<Shape>& shape1,const shared_ptr<Shape>& shape2,const State& state1,const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& interaction){
+
+ const Se3r& se31=state1.se3;
+ const Se3r& se32=state2.se3;
+
+ Sphere* A = static_cast<Sphere*>(shape1.get());
+ Real radius = A->radius;
+ Real r2 = radius*radius;
+ Polyhedra* B = static_cast<Polyhedra*>(shape2.get());
+
+ bool isNew = !interaction->geom;
+ shared_ptr<ScGeom> geom;
+
+ // use polyhedron surface triangulation
+ const std::vector<int> faceTri = B->GetSurfaceTriangulation();
+ // get vertices in global coordinate system
+ std::vector<Vector3r> pts(B->v);
+ for (int i=0; i<pts.size(); i++) pts[i] = se32.position + se32.orientation*pts[i];
+
+ //******************************************************************************
+ // find the closest point of polyhedron to the sphere center, see following paper for notation
+ // http://automatica.dei.unipd.it/public/Schenato/PSC/2010_2011/gruppo4-Building_termo_identification/IdentificazioneTermodinamica20062007/eggpsc/Simulatore%20termico/Generazione%20Mesh/1995%20-%203D%20Distance%20from%20a%20Point%20to%20a%20Triangle.pdf
+ bool isInside = true; // if center is inside polyhedron
+ const Vector3r& p0 = se31.position;
+ const Vector3r& center = p0;
+ Vector3r closest; // closest point to be found
+ Real dst2min = DBL_MAX; // minimal squared distance (large number initially)
+ // auxiliary value
+ Vector3r p1,p2,p3,e1,e2,e3,e,n,p0a,p10,p20,p30,v1,v2,v3,pa,pb,r,p0aa,pp,ppp;
+ Real dst,f1,f2,f3,t,e1n,e2n,e3n,en,p10n,p20n,p30n,o1,o2,o3,dst2,edst2,edst2min;
+ PointTriangleRelation rel=none,relTemp,relTemp2;
+ for (int i=0; i<faceTri.size()/3; i++) { // iterate over all triangles...
+ // triangle vertices
+ p1 = pts[faceTri[3*i+0]];
+ p2 = pts[faceTri[3*i+1]];
+ p3 = pts[faceTri[3*i+2]];
+ // triangle edges vectors
+ e1 = p2-p1; e1n = e1.norm();
+ e2 = p3-p2; e2n = e2.norm();
+ e3 = p1-p3; e3n = e3.norm();
+ n = (e1.cross(-e3)).normalized(); // tirangle outer normal
+ dst = (p0-p1).dot(n); // oriented distance of p0 to triangle plane
+ if (dst>0) isInside = false; // p0 lies in positive halfspace of triangle, cannot be inside
+ p0a = p0 - dst*n; // p0 projected to triangle plane
+ p10 = p0a-p1;
+ p20 = p0a-p2;
+ p30 = p0a-p3;
+ // inside/outside with respect to individual edges
+ o1 = (p10.cross(p20)).dot(n);
+ o2 = (p20.cross(p30)).dot(n);
+ o3 = (p30.cross(p10)).dot(n);
+ if (o1>0 && o2>0 && o3>0) { // p0a is inside triangle
+ pp = p0a;
+ relTemp = inside;
+ } else {
+ edst2min = DBL_MAX;
+ for (int j=0; j<3; j++) { // iterate over 3 edges end find the closest point of them
+ pa = j==0? p1 : (j==1? p2 : p3);
+ pb = j==0? p2 : (j==1? p3 : p1);
+ r = (((pb-p0a).cross(pa-p0a)).cross(pb-pa)).normalized();
+ p0aa = p0a + (pa-p0a).dot(r)*r; // projection of p0a on the edge
+ e = pb-pa;
+ en = e.norm();
+ e /= en;
+ t = (p0aa-pa).dot(e)/en; // parameter of edge line
+ if (t<0.) { ppp = pa; relTemp2=vertex; }
+ else if (t>1.) { ppp = pb; relTemp2=vertex; }
+ else { ppp = p0aa; relTemp2=edge; }
+ edst2 = (ppp-p0).squaredNorm();
+ if (edst2 < edst2min) {
+ edst2min = edst2;
+ pp = ppp;
+ relTemp = relTemp2;
+ }
+ }
+ }
+ dst2 = (pp-p0).squaredNorm();
+ if (dst2 < dst2min) { // dst2 is now the minimal squared distance and pp is now the closest found point so far
+ dst2min = dst2;
+ closest = pp;
+ rel = relTemp;
+ }
+ }
+ //******************************************************************************
+
+ if (isNew && !(isInside || dst2min<=r2) ) return false;
+
+ if (isNew) {
+ geom = shared_ptr<ScGeom>(new ScGeom());
+ geom->radius1 = geom->radius2 = radius;
+ interaction->geom = geom;
+ } else {
+ geom = YADE_PTR_CAST<ScGeom>(interaction->geom);
+ }
+
+ Real penetrationDepth;
+ Vector3r normal,contactPoint;
+ if (isInside) { // some artificial tricks for unlikely case
+ normal = se32.position - center;
+ dst = normal.norm();
+ penetrationDepth = radius;
+ normal /= dst;
+ contactPoint = center + normal*(.5*radius);
+ } else {
+ if (rel==none) { LOG_FATAL("TODO"); }
+ Real coeff = rel==edge? edgeCoeff : (rel==vertex? vertexCoeff : 1.0);
+ normal = closest - center;
+ dst = normal.norm();
+ normal /= dst;
+ penetrationDepth = radius - dst;
+ contactPoint = center + normal*(radius-.5*penetrationDepth);
+ penetrationDepth *= coeff;
+ }
+ geom->normal = normal;
+ geom->penetrationDepth = penetrationDepth;
+ geom->contactPoint = contactPoint;
+
+ geom->precompute(state1,state2,scene,interaction,normal,isNew,shift2,false/*avoidGranularRatcheting only for sphere-sphere*/);
+
+ return true;
+}
/*
-bool Ig2_Sphere_Polyhedra_PolyhedraGeom::go(const shared_ptr<Shape>& cm1,const shared_ptr<Shape>& cm2,const State& state1,const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& interaction){
+bool Ig2_Sphere_Polyhedra_PolyhedraGeom::go(const shared_ptr<Shape>& shape1,const shared_ptr<Shape>& shape2,const State& state1,const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& interaction){
const Se3r& se31=state1.se3;
const Se3r& se32=state2.se3;
- Polyhedra* B = static_cast<Polyhedra*>(cm2.get());
- const Real& r=cm1->cast<Sphere>().radius;
+ Polyhedra* B = static_cast<Polyhedra*>(shape2.get());
+ const Real& r=shape1->cast<Sphere>().radius;
//cout << "Sphere x Polyhedra" << endl;
=== modified file 'pkg/dem/Polyhedra_Ig2.hpp'
--- pkg/dem/Polyhedra_Ig2.hpp 2014-10-15 06:44:01 +0000
+++ pkg/dem/Polyhedra_Ig2.hpp 2014-10-22 10:13:18 +0000
@@ -12,8 +12,8 @@
{
public:
virtual ~Ig2_Polyhedra_Polyhedra_PolyhedraGeom(){};
- virtual bool go(const shared_ptr<Shape>& cm1, const shared_ptr<Shape>& cm2, const State& state1, const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& c);
- virtual bool goReverse( const shared_ptr<Shape>& cm1, const shared_ptr<Shape>& cm2, const State& state1, const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& c) { return go(cm1,cm2,state2,state1,-shift2,force,c); }
+ virtual bool go(const shared_ptr<Shape>& shape1, const shared_ptr<Shape>& shape2, const State& state1, const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& c);
+ virtual bool goReverse( const shared_ptr<Shape>& shape1, const shared_ptr<Shape>& shape2, const State& state1, const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& c) { return go(shape1,shape2,state2,state1,-shift2,force,c); }
FUNCTOR2D(Polyhedra,Polyhedra);
DEFINE_FUNCTOR_ORDER_2D(Polyhedra,Polyhedra);
YADE_CLASS_BASE_DOC(Ig2_Polyhedra_Polyhedra_PolyhedraGeom,IGeomFunctor,"Create/update geometry of collision between 2 Polyhedras");
@@ -28,7 +28,7 @@
{
public:
virtual ~Ig2_Wall_Polyhedra_PolyhedraGeom(){};
- virtual bool go(const shared_ptr<Shape>& cm1, const shared_ptr<Shape>& cm2, const State& state1, const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& c);
+ virtual bool go(const shared_ptr<Shape>& shape1, const shared_ptr<Shape>& shape2, const State& state1, const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& c);
FUNCTOR2D(Wall,Polyhedra);
DEFINE_FUNCTOR_ORDER_2D(Wall,Polyhedra);
YADE_CLASS_BASE_DOC(Ig2_Wall_Polyhedra_PolyhedraGeom,IGeomFunctor,"Create/update geometry of collision between Wall and Polyhedra");
@@ -43,7 +43,7 @@
{
public:
virtual ~Ig2_Facet_Polyhedra_PolyhedraGeom(){};
- virtual bool go(const shared_ptr<Shape>& cm1, const shared_ptr<Shape>& cm2, const State& state1, const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& c);
+ virtual bool go(const shared_ptr<Shape>& shape1, const shared_ptr<Shape>& shape2, const State& state1, const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& c);
FUNCTOR2D(Facet,Polyhedra);
DEFINE_FUNCTOR_ORDER_2D(Facet,Polyhedra);
YADE_CLASS_BASE_DOC(Ig2_Facet_Polyhedra_PolyhedraGeom,IGeomFunctor,"Create/update geometry of collision between Facet and Polyhedra");
@@ -54,12 +54,31 @@
//***************************************************************************
/*! Create Polyhedra (collision geometry) from colliding Sphere & Polyhedra. */
+class Ig2_Sphere_Polyhedra_ScGeom: public IGeomFunctor
+{
+ public:
+ enum PointTriangleRelation { inside, edge, vertex, none };
+ virtual ~Ig2_Sphere_Polyhedra_ScGeom(){};
+ virtual bool go(const shared_ptr<Shape>& shape1, const shared_ptr<Shape>& shape2, const State& state1, const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& c);
+ FUNCTOR2D(Sphere,Polyhedra);
+ DEFINE_FUNCTOR_ORDER_2D(Sphere,Polyhedra);
+ YADE_CLASS_BASE_DOC_ATTRS(Ig2_Sphere_Polyhedra_ScGeom,IGeomFunctor,"Create/update geometry of collision between Sphere and Polyhedra",
+ ((Real,edgeCoeff,1.0,,"TODO"))
+ ((Real,vertexCoeff,1.0,,"TODO"))
+ );
+ DECLARE_LOGGER;
+ private:
+};
+REGISTER_SERIALIZABLE(Ig2_Sphere_Polyhedra_ScGeom);
+
+//***************************************************************************
+/*! Create Polyhedra (collision geometry) from colliding Sphere & Polyhedra. */
/*
class Ig2_Sphere_Polyhedra_PolyhedraGeom: public IGeomFunctor
{
public:
virtual ~Ig2_Sphere_Polyhedra_PolyhedraGeom(){};
- virtual bool go(const shared_ptr<Shape>& cm1, const shared_ptr<Shape>& cm2, const State& state1, const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& c);
+ virtual bool go(const shared_ptr<Shape>& shape1, const shared_ptr<Shape>& shape2, const State& state1, const State& state2, const Vector3r& shift2, const bool& force, const shared_ptr<Interaction>& c);
FUNCTOR2D(Sphere,Polyhedra);
DEFINE_FUNCTOR_ORDER_2D(Sphere,Polyhedra);
YADE_CLASS_BASE_DOC(Ig2_Sphere_Polyhedra_PolyhedraGeom,IGeomFunctor,"Create/update geometry of collision between Sphere and Polyhedra");
=== modified file 'py/_polyhedra_utils.cpp'
--- py/_polyhedra_utils.cpp 2014-10-15 06:44:01 +0000
+++ py/_polyhedra_utils.cpp 2014-10-22 10:13:18 +0000
@@ -100,7 +100,7 @@
Real density=b->state->mass/p->GetVolume();
//get equivalent radius and use same equation as for sphere
Real equi_radius=pow(p->GetVolume()/((4./3.)*Mathr::PI),1./3.);
- dt=min(dt,equi_radius/sqrt(ebp->Kn*equi_radius/density));
+ dt=min(dt,equi_radius/sqrt(ebp->young*equi_radius/density));
}
}
if (dt==std::numeric_limits<Real>::infinity()) {
=== modified file 'py/utils.py'
--- py/utils.py 2014-10-09 20:32:40 +0000
+++ py/utils.py 2014-10-22 10:13:18 +0000
@@ -393,7 +393,7 @@
def polyhedron(vertices,dynamic=True,fixed=False,wire=True,color=None,highlight=False,noBound=False,material=-1,mask=1,chain=-1):
"""Create polyhedron with given parameters.
- :param [Vector3,Vector3,Vector3,Vector3] vertices: coordinates of vertices in the global coordinate system.
+ :param [[Vector3]] vertices: coordinates of vertices in the global coordinate system.
See :yref:`yade.utils.sphere`'s documentation for meaning of other parameters."""
b=Body()
