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/*************************************************************************
* Copyright (C) 2009 by Sergei Dorofeenko *
* sega@users.berlios.de *
* *
* This program is free software; it is licensed under the terms of the *
* GNU General Public License v2 or later. See file LICENSE for details. *
*************************************************************************/
#ifdef pi
#undef pi
#endif
#include <core/Aabb.hpp>
#include <core/Body.hpp>
#include <core/InteractionLoop.hpp>
#include <pkg/common/Facet.hpp>
#include <pkg/common/Sphere.hpp>
#include <boost/random.hpp>
//#include<pkg/dem/BodyMacroParameters.hpp>
#include "ResetRandomPosition.hpp"
namespace yade { // Cannot have #include directive inside.
YADE_PLUGIN((ResetRandomPosition));
CREATE_LOGGER(ResetRandomPosition);
boost::variate_generator<boost::mt19937, boost::uniform_real<>> ResetRandomPosition::randomUnit(boost::mt19937(), boost::uniform_real<>(0, 1));
boost::variate_generator<boost::mt19937, boost::uniform_real<>> ResetRandomPosition::randomSymmetricUnit(boost::mt19937(), boost::uniform_real<>(-1, 1));
void ResetRandomPosition::action()
{
if (first_run) {
FOREACH(shared_ptr<Engine> eng, scene->engines)
{
bI = dynamic_cast<Collider*>(eng.get());
if (bI) break;
}
if (!bI) {
LOG_FATAL("Can't find Collider.");
return;
}
iGME = dynamic_cast<IGeomDispatcher*>(scene->engineByName("IGeomDispatcher").get());
if (!iGME) {
InteractionLoop* iDsp = dynamic_cast<InteractionLoop*>(scene->engineByName("InteractionLoop").get());
if (!iDsp) {
LOG_FATAL("Can't find nor IGeomDispatcher nor InteractionLoop.");
return;
}
iGME = dynamic_cast<IGeomDispatcher*>(iDsp->geomDispatcher.get());
if (!iGME) {
LOG_FATAL("Can't find IGeomDispatcher.");
return;
}
}
first_run = false;
randomFacet = shared_ptr<RandomInt>(new RandomInt(boost::minstd_rand(), boost::uniform_int<>(0, factoryFacets.size() - 1)));
}
shiftedBodies.clear();
FOREACH(int id, subscribedBodies)
{
shared_ptr<Body> b = Body::byId(id);
State* rb = b->state.get();
Vector3r& position = rb->se3.position;
if ((position - point).dot(normal) < 0) {
Vector3r backup_pos = position;
bool is_overlap;
for (int attempt = 0; attempt < maxAttempts; ++attempt) {
position = (volumeSection) ? generatePositionInVolume() : generatePositionOnSurface();
const Real r = YADE_CAST<Sphere*>(b->shape.get())->radius;
Bound bv;
bv.min = Vector3r(position[0] - r, position[1] - r, position[2] - r);
bv.max = Vector3r(position[0] + r, position[1] + r, position[2] + r);
is_overlap = false;
// Test overlap with already shifted bodies
FOREACH(shared_ptr<Body> sb, shiftedBodies)
{
if (iGME->explicitAction(b, sb, /*force*/ false)->geom) {
is_overlap = true;
break;
}
}
if (is_overlap) continue; // new attempt
// Test overlap with other bodies
vector<Body::id_t> probedBodies = bI->probeBoundingVolume(bv);
FOREACH(Body::id_t id2, probedBodies)
{
if (iGME->explicitAction(b, Body::byId(id2), /*force*/ false)->geom) {
is_overlap = true;
break;
}
}
if (is_overlap) continue; // new attempt
break;
}
if (is_overlap) {
LOG_WARN("Can't placing sphere during " << maxAttempts << " attempts.");
position = backup_pos;
return;
}
rb->vel = Vector3r( //
velocity[0] + velocityRange[0] * randomSymmetricUnit(),
velocity[1] + velocityRange[1] * randomSymmetricUnit(),
velocity[2] + velocityRange[2] * randomSymmetricUnit());
rb->angVel = Vector3r( //
angularVelocity[0] + angularVelocityRange[0] * randomSymmetricUnit(),
angularVelocity[1] + angularVelocityRange[1] * randomSymmetricUnit(),
angularVelocity[2] + angularVelocityRange[2] * randomSymmetricUnit());
shiftedBodies.push_back(b);
}
} // next sphere
}
Vector3r ResetRandomPosition::generatePositionOnSurface()
{
Body::id_t facetId = factoryFacets[(*randomFacet)()];
Real t1 = randomUnit();
Real t2 = randomUnit() * (1 - t1);
shared_ptr<Body> facet = Body::byId(facetId);
Facet* ifacet = static_cast<Facet*>(facet->shape.get());
return t1 * (ifacet->vertices[1] - ifacet->vertices[0]) + t2 * (ifacet->vertices[2] - ifacet->vertices[0]) + ifacet->vertices[0]
+ facet->state->se3.position;
}
Vector3r ResetRandomPosition::generatePositionInVolume()
{
Vector3r p1 = generatePositionOnSurface();
Vector3r p2 = generatePositionOnSurface();
Real t = randomUnit();
return p1 + t * (p2 - p1);
}
} // namespace yade
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