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/////////////////////////////////////////////////////////////
// //
// Copyright (c) 2003-2014 by The University of Queensland //
// Centre for Geoscience Computing //
// http://earth.uq.edu.au/centre-geoscience-computing //
// //
// Primary Business: Brisbane, Queensland, Australia //
// Licensed under the Open Software License version 3.0 //
// http://www.apache.org/licenses/LICENSE-2.0 //
// //
/////////////////////////////////////////////////////////////
//----------------------------------------------
// CESphereBodyInteractionGroup functions
//----------------------------------------------
#include "Foundation/console.h"
#include <iostream>
template<class T>
CESphereBodyInteractionGroup<T>::CESphereBodyInteractionGroup(TML_Comm* comm):ASphereBodyInteractionGroup<T>(comm)
{}
/*!
Constructor for elastic sphere body interaction group
\param comm the communicator
\param spherep a pointer to the sphere body
\param param the interaction parameters
*/
template<class T>
CESphereBodyInteractionGroup<T>::CESphereBodyInteractionGroup(TML_Comm* comm,CSphereBody* spherep,const CESphereBodyIGP* I)
:ASphereBodyInteractionGroup<T>(comm)
{
console.XDebug() << "making CESphereBodyInteractionGroup \n";
m_k=I->getSpringConst();
this->m_sphere=spherep;
}
template<class T>
void CESphereBodyInteractionGroup<T>::calcForces()
{
console.XDebug() << "calculating " << m_interactions.size() << " elastic sphere body forces\n" ;
for(
typename vector<CElasticSphereBodyInteraction<T> >::iterator it=m_interactions.begin();
it != m_interactions.end();
it++
){
it->calcForces();
}
}
template<class T>
void CESphereBodyInteractionGroup<T>::Update(ParallelParticleArray<T>* PPA)
{
console.XDebug() << "CESphereBodyInteractionGroup::Update()\n" ;
console.XDebug()
<< "CESphereBodyInteractionGroup::Update: sphere body origin = " << this->m_sphere->getCentre()
<< ", sphere body radius = " << this->m_sphere->getRadius() << "\n" ;
k_local=0.0;
// empty particle list first
m_interactions.erase(m_interactions.begin(),m_interactions.end());
this->m_inner_count=0;
// build new particle list
typename ParallelParticleArray<T>::ParticleListHandle plh=
PPA->getParticlesNearSphere(this->m_sphere->getCentre(),this->m_sphere->getRadius());
for(typename ParallelParticleArray<T>::ParticleListIterator iter=plh->begin();
iter!=plh->end();
iter++){
bool iflag=PPA->isInInner((*iter)->getPos());
m_interactions.push_back(CElasticSphereBodyInteraction<T>(*iter,this->m_sphere,m_k,iflag));
this->m_inner_count+=(iflag ? 1 : 0);
}
console.XDebug() << "end CESphereBodyInteractionGroup::Update()\n";
}
/*!
Apply a given force to the sphere body. Only forces in the direction of the given force are
considered, free movement is assumed in perpendicular directions.
\param F the force
*/
template<class T>
void CESphereBodyInteractionGroup<T>::applyForce(const Vec3& F)
{
// warn if initial value of force is zero, which prevents convergence
if(F.norm()==0.0){
console.Warning() << "No force applied to sphere body in CESphereBodyInteractionGroup::applyForce, which will not converge. If ramping the force, start with a nonzero value.\n";
}
int it=0;
double d; // distance to move
double df; // force difference
double ef; // relative force error (df/|F|)
Vec3 O_f=F.unit(); // direction of the applied force
do{
//std::cerr << "iteration: " << it << std::endl;
// calculate local stiffness
k_local=0.0;
for(typename vector<CElasticSphereBodyInteraction<T> >::iterator iter=m_interactions.begin();
iter!=m_interactions.end();
iter++){
k_local+=iter->getStiffness();
}
//std::cerr << "local stiffness: " << k_local << std::endl;
// get global K
m_k_global=this->m_comm->sum_all(k_local);
//std::cerr << "global stiffness: " << m_k_global << std::endl;
if(m_k_global>0){
// calculate local F
Vec3 F_local=Vec3(0.0,0.0,0.0);
for (
typename vector<CElasticSphereBodyInteraction<T> >::iterator iter=m_interactions.begin();
iter!=m_interactions.end();
iter++
){
if(iter->isInner()){
Vec3 f_i=iter->getForce();
F_local+=(f_i*O_f)*O_f; // add component of f_i in O_f direction
}
}
//std::cerr << "local Force: " << F_local << std::endl;
// get global F
// by component (hack - fix later,i.e. sum_all for Vec3)
double fgx=this->m_comm->sum_all(F_local.X());
double fgy=this->m_comm->sum_all(F_local.Y());
double fgz=this->m_comm->sum_all(F_local.Z());
Vec3 F_global=Vec3(fgx,fgy,fgz);
//std::cerr << "global Force: " << F_global << std::endl;
// calc necessary sphere movement
df=(F+F_global)*O_f;
d=df/m_k_global;
ef=df/F.norm();
// move the sphere body
this->m_sphere->moveBy(d*O_f);
it++;
} else {
d=1e-5;
ef=1;
// move the sphere body
this->m_sphere->moveBy(d*O_f);
it++;
}
} while((it<50)&&(ef>1e-3)); // check for convergence
// warning message if no contact or high error after iteration
if(ef>1e-3){
console.Warning() << "applyForce doesn't converge, global stiffness: " << m_k_global << " applied force: " << F << "\n";
}
}
template<class T>
ostream& operator<<(ostream& ost,const CESphereBodyInteractionGroup<T>& IG)
{
ost << "CESphereBodyInteractionGroup" << endl << flush;
ost << *(IG.m_sphere) << endl << flush;
return ost;
}
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