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#include <core/Clump.hpp>
#include <core/Scene.hpp>
#include <pkg/dem/Integrator.hpp>
#ifdef YADE_OPENMP
#include <omp.h>
#endif
namespace yade { // Cannot have #include directive inside.
using math::max;
using math::min; // using inside .cpp file is ok.
YADE_PLUGIN((Integrator));
void observer::operator()(const stateVector& x, Real t) const
{
this->integrator->scene->time = t;
this->integrator->setCurrentStates(x);
}
//! Integrator's pseudo-ctor (factory), taking nested lists of slave engines (might be moved to real ctor perhaps)
void Integrator::action() { }
void Integrator::system(const stateVector& currentstates, stateVector& derivatives, Real time)
{
#ifdef YADE_OPENMP
//prevent (old site, fixed bug) https://bugs.launchpad.net/yade/+bug/923929
ensureSync();
#endif
//Calculate orientation
maxVelocitySq = -1;
setCurrentStates(currentstates);
scene->time = time;
const int size = (int)slaves.size();
for (int i = 0; i < size; i++) {
// run every slave group sequentially
FOREACH(const shared_ptr<Engine>& e, slaves[i])
{
e->scene = scene;
if (!e->dead && e->isActivated()) e->action();
}
}
derivatives = getSceneStateDot();
/*
std::cout<<std::endl<<"Derivatives are"<<std::endl;
for(long int k=0;k<derivatives.size();k++)
std::cout<<std::endl<<derivatives[k]<<std::endl;*/
}
stateVector& Integrator::getSceneStateDot(void)
{
try {
long int numberofscenebodies = scene->bodies->size();
scene->forces.sync();
accumstatedotofthescene.resize(2 * scene->bodies->size() * 7);
YADE_PARALLEL_FOREACH_BODY_BEGIN(const shared_ptr<Body>& b, scene->bodies)
{
const Body::id_t& id = b->getId();
Vector3r force = Vector3r::Zero();
Vector3r vel_current;
Vector3r moment = Vector3r::Zero();
Vector3r angvel_current;
Quaternionr ori_current;
Quaternionr angvelquat;
Quaternionr oridot_current;
if (!b->isClumpMember()) {
Real mass = b->state->mass;
Vector3r inertia = b->state->inertia;
vel_current = b->state->vel;
angvel_current = b->state->angVel;
ori_current = b->state->ori;
// clumps forces
if (b->isClump()) {
b->shape->cast<Clump>().addForceTorqueFromMembers(b->state.get(), scene, force, moment);
#ifdef YADE_OPENMP
//it is safe here, since only one thread will read/write
scene->forces.addTorqueUnsynced(id, moment);
scene->forces.addForceUnsynced(id, force);
#else
scene->forces.addTorque(id, moment);
scene->forces.addForce(id, force);
#endif
}
force = scene->forces.getForce(id);
moment = scene->forces.getTorque(id);
/*
* Calculation of accelerations
*
*/
force[0] = force[0] / mass;
force[1] = force[1] / mass;
force[2] = force[2] / mass; //Calculate linear acceleration
moment[0] = moment[0] / inertia[0];
moment[1] = moment[1] / inertia[1];
moment[2] = moment[2] / inertia[2]; //Calculate angular acceleration
//Check for fixation
/*
This code block needs optimization
*/
string str
= "xyzXYZ"; // Very very very hard coding!!!!! Fixation seems not handled fine by state structure, should be improved.
for (int i = 0; i < 3; i++)
if (b->state->blockedDOFs_vec_get().find(str[i]) != std::string::npos) {
force[i] = 0;
vel_current[i] = 0;
}
for (int i = 3; i < 6; i++)
if (b->state->blockedDOFs_vec_get().find(str[i]) != std::string::npos) {
moment[i - 3] = 0;
angvel_current[i - 3] = 0;
}
angvelquat = Quaternionr(0.0, angvel_current[0], angvel_current[1], angvel_current[2]);
oridot_current = Quaternionr(0.5 * (angvelquat * ori_current).coeffs());
// if (densityScaling) accel*=state->densityScaling;
} else {
//is clump member
force = Vector3r::Zero();
moment = Vector3r::Zero();
vel_current = Vector3r::Zero();
angvel_current = Vector3r::Zero();
oridot_current = Quaternionr(0, 0, 0, 0); // zero change in quaternion with respect to time
}
/*Orientation differantion is straight forward.*/
accumstatedotofthescene[id * 7 + 0] = vel_current[0];
accumstatedotofthescene[(id + numberofscenebodies) * 7 + 0] = force[0];
accumstatedotofthescene[id * 7 + 1] = vel_current[1];
accumstatedotofthescene[(id + numberofscenebodies) * 7 + 1] = force[1];
accumstatedotofthescene[id * 7 + 2] = vel_current[2];
accumstatedotofthescene[(id + numberofscenebodies) * 7 + 2] = force[2];
accumstatedotofthescene[id * 7 + 3] = oridot_current.w();
accumstatedotofthescene[(id + numberofscenebodies) * 7 + 3] = moment[0];
accumstatedotofthescene[id * 7 + 4] = oridot_current.x();
accumstatedotofthescene[(id + numberofscenebodies) * 7 + 4] = moment[1];
accumstatedotofthescene[id * 7 + 5] = oridot_current.y();
accumstatedotofthescene[(id + numberofscenebodies) * 7 + 5] = moment[2];
accumstatedotofthescene[id * 7 + 6] = oridot_current.z();
accumstatedotofthescene[(id + numberofscenebodies) * 7 + 6] = 0;
}
YADE_PARALLEL_FOREACH_BODY_END();
} catch (std::exception& e) {
LOG_FATAL("Unhandled exception at Integrator::getSceneStateDot the exception information : " << typeid(e).name() << " : " << e.what());
}
return accumstatedotofthescene;
}
stateVector& Integrator::getCurrentStates(void)
{
try {
long int numberofscenebodies = scene->bodies->size();
accumstateofthescene.resize(2 * scene->bodies->size() * 7);
YADE_PARALLEL_FOREACH_BODY_BEGIN(const shared_ptr<Body>& b, scene->bodies)
{
const Body::id_t& id = b->getId();
Vector3r pos_current = b->state->pos;
Vector3r vel_current = b->state->vel;
Quaternionr ori = b->state->ori;
Vector3r angvel = b->state->angVel;
accumstateofthescene[id * 7 + 0] = pos_current[0];
accumstateofthescene[(id + numberofscenebodies) * 7 + 0] = vel_current[0];
accumstateofthescene[id * 7 + 1] = pos_current[1];
accumstateofthescene[(id + numberofscenebodies) * 7 + 1] = vel_current[1];
accumstateofthescene[id * 7 + 2] = pos_current[2];
accumstateofthescene[(id + numberofscenebodies) * 7 + 2] = vel_current[2];
accumstateofthescene[id * 7 + 3] = ori.w();
accumstateofthescene[(id + numberofscenebodies) * 7 + 3] = angvel[0];
accumstateofthescene[id * 7 + 4] = ori.x();
accumstateofthescene[(id + numberofscenebodies) * 7 + 4] = angvel[1];
accumstateofthescene[id * 7 + 5] = ori.y();
accumstateofthescene[(id + numberofscenebodies) * 7 + 5] = angvel[2];
accumstateofthescene[id * 7 + 6] = ori.z();
accumstateofthescene[(id + numberofscenebodies) * 7 + 6] = 0;
}
YADE_PARALLEL_FOREACH_BODY_END();
} catch (std::exception& e) {
LOG_FATAL("Unhandled exception at Integrator::getCurrentStates the exception information : " << typeid(e).name() << " : " << e.what());
}
return accumstateofthescene;
}
bool Integrator::setCurrentStates(stateVector yscene)
{
try {
long int numberofscenebodies = scene->bodies->size();
//Zero max velocity for each thread
#ifdef YADE_OPENMP
FOREACH(Real & thrMaxVSq, threadMaxVelocitySq) { thrMaxVSq = 0; }
#endif
YADE_PARALLEL_FOREACH_BODY_BEGIN(const shared_ptr<Body>& b, scene->bodies)
{
if (b->isClumpMember()) continue;
const Body::id_t& id = b->getId();
Vector3r pos_current;
pos_current << yscene[id * 7 + 0], yscene[id * 7 + 1], yscene[id * 7 + 2];
Vector3r vel_current;
vel_current << yscene[(id + numberofscenebodies) * 7 + 0], yscene[(id + numberofscenebodies) * 7 + 1],
yscene[(id + numberofscenebodies) * 7 + 2];
Quaternionr ori = Quaternionr(yscene[id * 7 + 3], yscene[id * 7 + 4], yscene[id * 7 + 5], yscene[id * 7 + 6]);
Vector3r angvel;
angvel << yscene[(id + numberofscenebodies) * 7 + 3], yscene[(id + numberofscenebodies) * 7 + 4],
yscene[(id + numberofscenebodies) * 7 + 5];
b->state->pos = pos_current;
b->state->vel = vel_current;
b->state->ori = ori;
//std::cout<<"Setting orientation to "<<ori<<std::endl;
b->state->ori.normalize(); //Normalize orientation
//std::cout<<"Setting angvel to "<<angvel<<std::endl;
b->state->angVel = angvel;
#ifdef YADE_OPENMP
Real& thrMaxVSq = threadMaxVelocitySq[omp_get_thread_num()];
thrMaxVSq = max(thrMaxVSq, b->state->vel.squaredNorm());
#else
maxVelocitySq = max(maxVelocitySq, b->state->vel.squaredNorm()); // Set maximum velocity of the scene
#endif
if (b->isClump()) Clump::moveMembers(b, scene, this);
}
YADE_PARALLEL_FOREACH_BODY_END();
#ifdef YADE_OPENMP
FOREACH(const Real& thrMaxVSq, threadMaxVelocitySq) { maxVelocitySq = max(maxVelocitySq, thrMaxVSq); }
#endif
} catch (std::exception& e) {
LOG_FATAL("Unhandled exception at Integrator::setCurrentStates the exception information : " << typeid(e).name() << " : " << e.what());
return false;
}
return true;
}
#ifdef YADE_OPENMP
void Integrator::ensureSync()
{
if (syncEnsured) return;
YADE_PARALLEL_FOREACH_BODY_BEGIN(const shared_ptr<Body>& b, scene->bodies)
{
// if(b->isClump()) continue;
scene->forces.addForce(b->getId(), Vector3r(0, 0, 0));
}
YADE_PARALLEL_FOREACH_BODY_END();
syncEnsured = true;
}
#endif
void Integrator::saveMaximaDisplacement(const shared_ptr<Body>& b)
{
if (!b->bound) return; //clumps for instance, have no bounds, hence not saved
Vector3r disp = b->state->pos - b->bound->refPos;
Real maxDisp = max(math::abs(disp[0]), max(math::abs(disp[1]), math::abs(disp[2])));
if (!maxDisp
|| maxDisp < b->bound->sweepLength) { /*b->bound->isBounding = (updatingDispFactor>0 && (updatingDispFactor*maxDisp)<b->bound->sweepLength);*/
maxDisp = 0.5; //not 0, else it will be seen as "not updated" by the collider, but less than 1 means no colliding
} else { /*b->bound->isBounding = false;*/
maxDisp = 2; /*2 is more than 1, enough to trigger collider*/
}
maxVelocitySq = max(maxVelocitySq, maxDisp);
}
void Integrator::slaves_set(const boost::python::list& slaves2)
{
std::cout << "Adding slaves";
int len = boost::python::len(slaves2);
slaves.clear();
for (int i = 0; i < len; i++) {
boost::python::extract<std::vector<shared_ptr<Engine>>> serialGroup(slaves2[i]);
if (serialGroup.check()) {
slaves.push_back(serialGroup());
continue;
}
boost::python::extract<shared_ptr<Engine>> serialAlone(slaves2[i]);
if (serialAlone.check()) {
vector<shared_ptr<Engine>> aloneWrap;
aloneWrap.push_back(serialAlone());
slaves.push_back(aloneWrap);
continue;
}
PyErr_SetString(PyExc_TypeError, "Engines that are given to Integrator should be in two cases (a) in an ordered group, (b) alone engines");
boost::python::throw_error_already_set();
}
}
boost::python::list Integrator::slaves_get()
{
boost::python::list ret;
FOREACH(vector<shared_ptr<Engine>> & grp, slaves)
{
if (grp.size() == 1) ret.append(boost::python::object(grp[0]));
else
ret.append(boost::python::object(grp));
}
return ret;
}
} // namespace yade
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