yade-dev team mailing list archive
-
yade-dev team
-
Mailing list archive
-
Message #12432
[Branch ~yade-pkg/yade/git-trunk] Rev 3740: Clean some warnings and old stuff.
------------------------------------------------------------
revno: 3740
committer: Anton Gladky <gladky.anton@xxxxxxxxx>
timestamp: Wed 2015-11-18 08:06:16 +0100
message:
Clean some warnings and old stuff.
modified:
core/BodyContainer.hpp
lib/triangulation/Timer.cpp
pkg/dem/L3Geom.cpp
pkg/dem/L3Geom.hpp
--
lp:yade
https://code.launchpad.net/~yade-pkg/yade/git-trunk
Your team Yade developers is subscribed to branch lp:yade.
To unsubscribe from this branch go to https://code.launchpad.net/~yade-pkg/yade/git-trunk/+edit-subscription
=== modified file 'core/BodyContainer.hpp'
--- core/BodyContainer.hpp 2014-10-15 06:44:01 +0000
+++ core/BodyContainer.hpp 2015-11-18 07:06:16 +0000
@@ -56,11 +56,14 @@
Body::id_t insert(shared_ptr<Body>&);
void clear();
iterator begin() {
- iterator temp(body.begin()); temp.end=body.end();
+ iterator temp(body.begin());
+ temp.end=body.end();
return (body.begin()==body.end() || *temp)?temp:++temp;}
- iterator end() { iterator temp(body.end()); temp.end=body.end(); return temp;}
- const_iterator begin() const { return begin();}
- const_iterator end() const { return end();}
+ iterator end() {
+ iterator temp(body.end());
+ temp.end=body.end();
+ return temp;
+ }
size_t size() const { return body.size(); }
shared_ptr<Body>& operator[](unsigned int id){ return body[id];}
=== modified file 'lib/triangulation/Timer.cpp'
--- lib/triangulation/Timer.cpp 2014-07-02 16:18:24 +0000
+++ lib/triangulation/Timer.cpp 2015-11-18 07:06:16 +0000
@@ -1,4 +1,4 @@
-#include <string.h>
+#include <string>
#include "Timer.h"
Real_timer::Real_timer() : T1(0), T2(0), elapsed(0.0), started(0.0), interv(0), running(true)
=== modified file 'pkg/dem/L3Geom.cpp'
--- pkg/dem/L3Geom.cpp 2014-10-15 06:44:01 +0000
+++ pkg/dem/L3Geom.cpp 2015-11-18 07:06:16 +0000
@@ -21,20 +21,11 @@
void L3Geom::applyLocalForceTorque(const Vector3r& localF, const Vector3r& localT, const Interaction* I, Scene* scene, NormShearPhys* nsp) const {
Vector2r foo; // avoid undefined ~Vector2r with clang?
- #ifdef L3_TRSF_QUATERNION
- Vector3r globF=trsf.conjugate()*localF;
- #else
- Vector3r globF=trsf.transpose()*localF; // trsf is orthonormal, therefore inverse==transpose
- #endif
+ Vector3r globF=trsf.transpose()*localF; // trsf is orthonormal, therefore inverse==transpose
Vector3r x1c(normal*(refR1+.5*u[0])), x2c(-normal*(refR2+.5*u[0]));
if(nsp){ nsp->normalForce=normal*globF.dot(normal); nsp->shearForce=globF-nsp->normalForce; }
Vector3r globT=Vector3r::Zero();
- // add torque, if any
- #ifdef L3_TRSF_QUATERNION
- if(localT!=Vector3r::Zero()){ globT=trsf.conjugate()*localT; }
- #else
- if(localT!=Vector3r::Zero()){ globT=trsf.transpose()*localT; }
- #endif
+ if(localT!=Vector3r::Zero()){ globT=trsf.transpose()*localT; }
// apply force and torque
scene->forces.addForce(I->getId1(), globF); scene->forces.addTorque(I->getId1(),x1c.cross( globF)+globT);
scene->forces.addForce(I->getId2(),-globF); scene->forces.addTorque(I->getId2(),x2c.cross(-globF)-globT);
@@ -97,12 +88,7 @@
// initial local y-axis orientation, in the xz or xy plane, depending on which component is larger to avoid singularities
Vector3r locY=normal.cross(std::abs(normal[1])<std::abs(normal[2])?Vector3r::UnitY():Vector3r::UnitZ()); locY-=locX*locY.dot(locX); locY.normalize();
Vector3r locZ=normal.cross(locY);
- #ifdef L3_TRSF_QUATERNION
- Matrix3r trsf; trsf.row(0)=locX; trsf.row(1)=locY; trsf.row(2)=locZ;
- g.trsf=Quaternionr(trsf); // from transformation matrix
- #else
- g.trsf.row(0)=locX; g.trsf.row(1)=locY; g.trsf.row(2)=locZ;
- #endif
+ g.trsf.row(0)=locX; g.trsf.row(1)=locY; g.trsf.row(2)=locZ;
g.u=Vector3r(uN,0,0); // zero shear displacement
if(distFactor<0) g.u0[0]=uN;
// L6Geom::phi is initialized to Vector3r::Zero() automatically
@@ -150,39 +136,25 @@
// compute current transformation, by updating previous axes
// the X axis can be prescribed directly (copy of normal)
// the mutual motion on the contact does not change transformation
- #ifdef L3_TRSF_QUATERNION
- const Matrix3r prevTrsf(g.trsf.toRotationMatrix());
- Quaternionr prevTrsfQ(g.trsf);
- #else
- const Matrix3r prevTrsf(g.trsf); // could be reference perhaps, but we need it to compute midTrsf (if applicable)
- #endif
+ const Matrix3r prevTrsf(g.trsf); // could be reference perhaps, but we need it to compute midTrsf (if applicable)
Matrix3r currTrsf; currTrsf.row(0)=currNormal;
for(int i=1; i<3; i++){
currTrsf.row(i)=prevTrsf.row(i)-prevTrsf.row(i).cross(normRotVec)-prevTrsf.row(i).cross(normTwistVec);
}
- #ifdef L3_TRSF_QUATERNION
- Quaternionr currTrsfQ(currTrsf);
- if((scene->iter % trsfRenorm)==0 && trsfRenorm>0) currTrsfQ.normalize();
- #else
- if((scene->iter % trsfRenorm)==0 && trsfRenorm>0){
- #if 1
- currTrsf.row(0).normalize();
- currTrsf.row(1)-=currTrsf.row(0)*currTrsf.row(1).dot(currTrsf.row(0)); // take away y projected on x, to stabilize numerically
- currTrsf.row(1).normalize();
- currTrsf.row(2)=currTrsf.row(0).cross(currTrsf.row(1));
- currTrsf.row(2).normalize();
- #else
- currTrsf=Matrix3r(Quaternionr(currTrsf).normalized());
- #endif
- #ifdef YADE_DEBUG
- if(std::abs(currTrsf.determinant()-1)>.05){
- LOG_ERROR("##"<<I->getId1()<<"+"<<I->getId2()<<", |trsf|="<<currTrsf.determinant());
- g.trsf=currTrsf;
- throw runtime_error("Transformation matrix far from orthonormal.");
- }
- #endif
- }
- #endif
+ if((scene->iter % trsfRenorm)==0 && trsfRenorm>0){
+ currTrsf.row(0).normalize();
+ currTrsf.row(1)-=currTrsf.row(0)*currTrsf.row(1).dot(currTrsf.row(0)); // take away y projected on x, to stabilize numerically
+ currTrsf.row(1).normalize();
+ currTrsf.row(2)=currTrsf.row(0).cross(currTrsf.row(1));
+ currTrsf.row(2).normalize();
+ #ifdef YADE_DEBUG
+ if(std::abs(currTrsf.determinant()-1)>.05){
+ LOG_ERROR("##"<<I->getId1()<<"+"<<I->getId2()<<", |trsf|="<<currTrsf.determinant());
+ g.trsf=currTrsf;
+ throw runtime_error("Transformation matrix far from orthonormal.");
+ }
+ #endif
+ }
/* Previous local trsf u'⁻ must be updated to current u'⁰. We have transformation T⁻ and T⁰,
δ(a) denotes increment of a as defined above. Two possibilities:
@@ -196,12 +168,7 @@
but it would have to be verified somehow.
*/
// if requested via approxMask, just use prevTrsf
- #ifdef L3_TRSF_QUATERNION
- Quaternionr midTrsf=(approxMask&APPROX_NO_MID_TRSF) ? prevTrsfQ : prevTrsfQ.slerp(.5,currTrsfQ);
- #else
- Quaternionr midTrsf=(approxMask&APPROX_NO_MID_TRSF) ? Quaternionr(prevTrsf) : Quaternionr(prevTrsf).slerp(.5,Quaternionr(currTrsf));
- #endif
- //cerr<<"prevTrsf=\n"<<prevTrsf<<", currTrsf=\n"<<currTrsf<<", midTrsf=\n"<<Matrix3r(midTrsf)<<endl;
+ Quaternionr midTrsf=(approxMask&APPROX_NO_MID_TRSF) ? Quaternionr(prevTrsf) : Quaternionr(prevTrsf).slerp(.5,Quaternionr(currTrsf));
// updates of geom here
@@ -209,11 +176,7 @@
g.u+=midTrsf*relShearDu;
//cerr<<"midTrsf=\n"<<midTrsf<<",relShearDu="<<relShearDu<<", transformed "<<midTrsf*relShearDu<<endl;
g.u[0]=uN; // this does not have to be computed incrementally
- #ifdef L3_TRSF_QUATERNION
- g.trsf=currTrsfQ;
- #else
- g.trsf=currTrsf;
- #endif
+ g.trsf=currTrsf;
// GenericSpheresContact
g.refR1=r1; g.refR2=r2;
@@ -337,13 +300,7 @@
void Gl1_L3Geom::draw(const shared_ptr<IGeom>& ig, bool isL6Geom, const Real& phiScale){
const L3Geom& g(ig->cast<L3Geom>());
glTranslatev(g.contactPoint);
- #ifdef L3_TRSF_QUATERNION
- //glMultMatrixd(Eigen::Affine3d(Matrix3r(g.trsf).transpose()).data());
- glMultMatrix(Eigen::Transform<Real,3,Eigen::Affine>(Matrix3r(g.trsf).transpose()).data());
- #else
- //glMultMatrixd(Eigen::Affine3d(g.trsf.transpose()).data());
- glMultMatrix(Eigen::Transform<Real,3,Eigen::Affine>(g.trsf.transpose()).data());
- #endif
+ glMultMatrix(Eigen::Transform<Real,3,Eigen::Affine>(g.trsf.transpose()).data());
Real rMin=g.refR1<=0?g.refR2:(g.refR2<=0?g.refR1:min(g.refR1,g.refR2));
if(axesWd>0){
glLineWidth(axesWd);
=== modified file 'pkg/dem/L3Geom.hpp'
--- pkg/dem/L3Geom.hpp 2014-10-15 06:44:01 +0000
+++ pkg/dem/L3Geom.hpp 2015-11-18 07:06:16 +0000
@@ -53,12 +53,7 @@
* Multiplication of vector with quaternion is internally done by converting to matrix first, anyway
* We need to extract local axes, and that is easier to be done from Matrix3r (columns)
*/
- //#define L3_TRSF_QUATERNION
- #ifdef L3_TRSF_QUATERNION
- ((Quaternionr,trsf,Quaternionr::Identity(),,"Transformation (rotation) from global to local coordinates. (the translation part is in :yref:`GenericSpheresContact.contactPoint`)"))
- #else
- ((Matrix3r,trsf,Matrix3r::Identity(),,"Transformation (rotation) from global to local coordinates. (the translation part is in :yref:`GenericSpheresContact.contactPoint`)"))
- #endif
+ ((Matrix3r,trsf,Matrix3r::Identity(),,"Transformation (rotation) from global to local coordinates. (the translation part is in :yref:`GenericSpheresContact.contactPoint`)"))
((Vector3r,F,Vector3r::Zero(),,"Applied force in local coordinates [debugging only, will be removed]"))
,
/*init*/
@@ -66,8 +61,6 @@
,
/*ctor*/ createIndex();
, /*py*/
- //.def_readonly("uN",&L3Geom::uN,"Normal component of *u*")
- //.def_readonly("uT",&L3Geom::uT,"Shear component of *u*")
);
REGISTER_CLASS_INDEX(L3Geom,GenericSpheresContact);
};
