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[Question #702096]: Learning of ig2_ Sphere_ Sphere_ ScGeom.cpp

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From: xuanshenyu <question702096@xxxxxxxxxxxxxxxxxxxxx>
Date: Tue, 07 Jun 2022 07:01:04 -0000
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New question #702096 on Yade:
https://answers.launchpad.net/yade/+question/702096

Dear all,

I am learning the code of Yade about interaction, but that is very difficulty.

So I want to ask you to interpret the code of  ig2_ Sphere_ Sphere_ ScGeom.cpp[1]

######l15~l22#####
1  bool Ig2_Sphere_Sphere_ScGeom::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)
######
What does cm1, cm2,state1,shift2, force  stand for in this function?

#######l25###########
2 const Se3r&   se31 = state1.se3; 

What does state.se3  stand for ?


########l28#########

3 Vector3r      normal = (se32.position + shift2) - se31.position;

What does normal  stand for in this function?


Thanks in advance.
Shenyu


[1] https://gitlab.com/yade-dev/trunk/-/blob/master/pkg/dem/Ig2_Sphere_Sphere_ScGeom.cpp

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