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// 2009 © Václav Šmilauer <eudoxos@arcig.cz>
#pragma once
#include <lib/multimethods/Indexable.hpp>
#include <lib/serialization/Serializable.hpp>
#include <core/Dispatcher.hpp>
namespace yade { // Cannot have #include directive inside.
class State : public Serializable, public Indexable {
public:
/// linear motion (references to inside se3)
Vector3r& pos;
/// rotational motion (reference to inside se3)
Quaternionr& ori;
//! mutex for updating the parameters from within the interaction loop (only used rarely)
std::mutex updateMutex;
// bits for blockedDOFs
enum { DOF_NONE = 0, DOF_X = 1, DOF_Y = 2, DOF_Z = 4, DOF_RX = 8, DOF_RY = 16, DOF_RZ = 32 };
//! shorthand for all DOFs blocked
static const unsigned DOF_ALL = DOF_X | DOF_Y | DOF_Z | DOF_RX | DOF_RY | DOF_RZ;
//! shorthand for all displacements blocked
static const unsigned DOF_XYZ = DOF_X | DOF_Y | DOF_Z;
//! shorthand for all rotations blocked
static const unsigned DOF_RXRYRZ = DOF_RX | DOF_RY | DOF_RZ;
//! Return DOF_* constant for given axis∈{0,1,2} and rotationalDOF∈{false(default),true}; e.g. axisDOF(0,true)==DOF_RX
static unsigned axisDOF(int axis, bool rotationalDOF = false) { return 1 << (axis + (rotationalDOF ? 3 : 0)); }
//! set DOFs according to two Vector3r arguments (blocked is when disp[i]==1.0 or rot[i]==1.0)
void setDOFfromVector3r(Vector3r disp, Vector3r rot = Vector3r::Zero());
//! Getter of blockedDOFs for list of strings (e.g. DOF_X | DOR_RX | DOF_RZ → 'xXZ')
std::string blockedDOFs_vec_get() const;
//! Setter of blockedDOFs from string ('xXZ' → DOF_X | DOR_RX | DOF_RZ)
void blockedDOFs_vec_set(const std::string& dofs);
//! Return displacement (current-reference position)
const Vector3r displ() const { return pos - refPos; }
//! Return rotation (current-reference orientation, as Vector3r)
const Vector3r rot() const
{
Quaternionr relRot = ori * refOri.conjugate();
AngleAxisr aa(relRot);
return aa.axis() * aa.angle();
}
// python access functions: pos and ori are references to inside Se3r and cannot be pointed to directly
const Vector3r pos_get() const { return pos; }
void pos_set(const Vector3r p) { pos = p; }
const Quaternionr ori_get() const { return ori; }
void ori_set(const Quaternionr o) { ori = o; }
// clang-format off
YADE_CLASS_BASE_DOC_ATTRS_INIT_CTOR_PY(State,Serializable,"State of a body (spatial configuration, internal variables).",
((Se3r,se3,Se3r(Vector3r::Zero(),Quaternionr::Identity()),,"Position and :yref:`orientation<State.ori>` as one object."))
((Vector3r,vel,Vector3r::Zero(),,"Current linear velocity."))
((Real,mass,0,,"Mass of this body"))
((Vector3r,angVel,Vector3r::Zero(),,"Current angular velocity"))
((Vector3r,angMom,Vector3r::Zero(),,"Current angular momentum"))
((Vector3r,inertia,Vector3r::Zero(),,"Inertia of associated body, in local coordinate system."))
((Vector3r,refPos,Vector3r::Zero(),,"Reference position"))
((Quaternionr,refOri,Quaternionr::Identity(),,"Reference orientation"))
((unsigned,blockedDOFs,,,"[Will be overridden]"))
((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,,"Multiplicative coefficient to reflect an artificial change in mass density (as per :yref:`GlobalStiffnessTimeStepper.targetDt`) which :yref:`NewtonIntegrator` (depending on the corresponding option :yref:`NewtonIntegrator.densityScaling`) will reflect into :yref:`linear<State.vel>` and :yref:`angular velocities<State.angVel>` (but not :yref:`angular momentum<State.angMom>` that still corresponds to the unbiaised inertia tensor) as a multiplicative coefficient |yupdate|."))
#ifdef YADE_SPH
((Real,rho, -1.0,/*Attr::readonly*/, "Current density (only for SPH-model)")) // [Mueller2003], (12)
((Real,rho0,-1.0,/*Attr::readonly*/, "Rest density (only for SPH-model)")) // [Mueller2003], (12)
((Real,press,0.0,/*Attr::readonly*/, "Pressure (only for SPH-model)")) // [Mueller2003], (12)
#endif
#ifdef YADE_LIQMIGRATION
((Real,Vf, 0.0,, "Individual amount of liquid"))
((Real,Vmin, 0.0,, "Minimal amount of liquid"))
#endif
#ifdef YADE_DEFORM
((Real,dR, 0.0,, "Sphere deformation"))
#endif
,
/* additional initializers */
((pos,se3.position))
((ori,se3.orientation)),
/* ctor */,
/*py*/
YADE_PY_TOPINDEXABLE(State)
.add_property("blockedDOFs",&State::blockedDOFs_vec_get,&State::blockedDOFs_vec_set,"Degress of freedom where linear/angular velocity will be always constant (equal to zero, or to an user-defined value), regardless of applied force/torque. String that may contain 'xyzXYZ' (translations and rotations).")
// references must be set using wrapper funcs
.add_property("pos",&State::pos_get,&State::pos_set,"Current position.")
.add_property("ori",&State::ori_get,&State::ori_set,"Current orientation as the quaternion-form of the rotation that maps the model, i.e. global, coordinate system into an inertial, i.e. local, basis for the body.")
.def("displ",&State::displ,"Displacement from :yref:`reference position<State.refPos>` (:yref:`pos<State.pos>` - :yref:`refPos<State.refPos>`)")
.def("rot",&State::rot,"Rotation from :yref:`reference orientation<State.refOri>` (as rotation vector)")
);
// clang-format on
REGISTER_INDEX_COUNTER(State);
DECLARE_LOGGER;
};
REGISTER_SERIALIZABLE(State);
class ThermalState : public State {
public:
// NOTE: this constructor is for converting states on the fly.
// copying each member data is a bit ugly and will need update if State is modified, but unfortunately
// the copy constructor State(state) is not available for serializable's.
ThermalState(const State& source)
: ThermalState()
{ // inherits from arg-less ctor, needed for proper serialization
se3 = source.se3;
vel = source.vel;
mass = source.mass;
angVel = source.angVel;
angMom = source.angMom;
inertia = source.inertia;
refPos = source.refPos;
refOri = source.refOri;
blockedDOFs = source.blockedDOFs;
isDamped = source.isDamped;
densityScaling = source.densityScaling;
// pos = source.se3.position; // probably already copied at first line
// ori = source.se3.orientation;
}
// clang-format off
YADE_CLASS_BASE_DOC_ATTRS_INIT_CTOR_PY(ThermalState,State,"State containing quantities for thermal physics.",
((Real,temp,0,,"temperature of the body"))
((Real,oldTemp,0,,"change of temp (for thermal expansion)"))
((Real,stepFlux,0,,"flux during current step"))
((Real,thermalMass,0,,"mass of the body used for thermal calculations"))
((Real,Cp,0,,"Heat capacity of the body"))
((Real,k,0,,"thermal conductivity of the body"))
((Real,alpha,0,,"coefficient of thermal expansion"))
((bool,Tcondition,false,,"indicates if particle is assigned dirichlet (constant temp) condition"))
((int,boundaryId,-1,,"identifies if a particle is associated with constant temperature thrermal boundary condition"))
((Real,stabilityCoefficient,0,,"sum of solid and fluid thermal resistivities for use in automatic timestep estimation"))
((Real,delRadius,0,,"radius change due to thermal expansion"))
((bool,isCavity,false,,"flag used for unbounding cavity bodies"))
,
,
createIndex();
,
);
// clang-format on
DECLARE_LOGGER;
REGISTER_CLASS_INDEX(ThermalState, State);
};
REGISTER_SERIALIZABLE(ThermalState);
} // namespace yade
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