This class defines a coil in the z-direction from a (constant) starting point, a (constant) length L, a (constant) radius r, a (constant) number or revelations N and a (constant) rotation speed (rev/s) More...

#include <Coil.h>

Inheritance diagram for Coil:

Public Member Functions
	Coil ()
	Default constructor, sets a coil with default parameters. More...

	Coil (const Coil &other)
	Copy constructor, makes a coil with the same properties as the input Coil. More...

	Coil (Vec3D Start, Mdouble L, Mdouble r, Mdouble N, Mdouble omega, Mdouble thickness)
	Constructor in which all parameters are set. More...

	~Coil ()
	Default destructor. More...

void	set (Vec3D Start, Mdouble length, Mdouble radius, Mdouble numberOfRevelations, Mdouble omega, Mdouble thickness)
	Set all parameters of this Coil. More...

Coil *	copy () const override
	Copy this Coil and return a pointer to the copy, useful for polymorphism. More...

bool	getDistanceAndNormal (const BaseParticle &P, Mdouble &distance, Vec3D &normal_return) const override
	Compute the distance from the Coil for a given BaseParticle and return if there is a collision. If there is a collision, also return the normal vector of the interaction point. More...

BaseInteraction *	getInteractionWith (BaseParticle P, Mdouble timeStamp, InteractionHandler interactionHandler)
	Get the interaction between this Coil and given BaseParticle at a given time. More...

void	move_time (Mdouble dt)
	Rotate the Coil for a period dt, so that the offset_ changes with omega_*dt. More...

void	read (std::istream &is) override
	Reads a Coil from an input stream, for example a restart file. More...

MERCURY_DEPRECATED void	oldRead (std::istream &is)
	Reads an old-style Coil from an input stream, for example an old restart file. More...

void	write (std::ostream &os) const override
	Writes a Coil to an output stream, for example a restart file. More...

std::string	getName () const override
	Returns the name of the object, in this case the string "Coil". More...

Public Member Functions inherited from BaseWall
	BaseWall ()
	Default constructor. It makes an empty BaseWall. More...

	BaseWall (const BaseWall &w)
	Copy constructor. More...

virtual	~BaseWall ()
	Default destructor. More...

virtual MERCURY_DEPRECATED void	clear ()
	A function that removes all data from this BaseWall, so sets handler_ to nullptr. More...

void	setHandler (WallHandler *handler)
	A function which sets the WallHandler for this BaseWall. More...

WallHandler *	getHandler () const
	A function which returns the WallHandler that handles this BaseWall. More...

void	setIndSpecies (unsigned int indSpecies)
	Define the species of this wall using the index of the species in the SpeciesHandler in this DPMBase. More...

void	setSpecies (const ParticleSpecies *species)
	Define the species of this wall. More...

Public Member Functions inherited from BaseInteractable
	BaseInteractable ()
	Default BaseInteractable constructor, it simply creates an empty BaseInteractable. More...

	BaseInteractable (const BaseInteractable &p)
	Copy constructor. It copies the BaseInteractable and all objects it contains. More...

virtual	~BaseInteractable ()
	Destructor, it simply destructs the BaseInteractable and all the objects it contains. More...

unsigned int	getIndSpecies () const
	Returns the index of the Species of this BaseInteractable. More...

const ParticleSpecies *	getSpecies () const
	Returns a pointer to the species of this BaseInteractable. More...

void	setSpecies (const ParticleSpecies *species)
	Sets the species of this BaseInteractable. More...

const Vec3D &	getForce () const
	Returns the force on this BaseInteractable. More...

const Vec3D &	getTorque () const
	Returns the torque on this BaseInteractable. More...

void	setForce (Vec3D force)
	Sets the force on this BaseInteractable. More...

void	setTorque (Vec3D torque)
	Sets the torque on this BaseInteractable. More...

void	addForce (Vec3D addForce)
	Adds an amount to the force on this BaseInteractable. More...

void	addTorque (Vec3D addTorque)
	Adds an amount to the torque on this BaseInteractable. More...

const Vec3D &	getPosition () const
	Returns the position of this BaseInteractable. More...

const Vec3D &	getOrientation () const
	Returns the orientation of this BaseInteractable. More...

void	setPosition (const Vec3D &position)
	Sets the position of this BaseInteractable. More...

void	setOrientation (const Vec3D &orientation)
	Sets the orientation of this BaseInteractable. More...

virtual void	move (const Vec3D &move)
	Moves this BaseInteractable by adding an amount to the position. More...

void	rotate (const Vec3D &rotate)
	Rotates this BaseInteractable. More...

const std::list < BaseInteraction * > &	getInteractions () const
	Returns a reference to the list of interactions in this BaseInteractable. More...

void	addInteraction (BaseInteraction *I)
	Adds an interaction to this BaseInteractable. More...

bool	removeInteraction (BaseInteraction *I)
	Removes an interaction from this BaseInteractable. More...

void	copyInteractionsForPeriodicParticles (const BaseInteractable &p)
	Copies interactions to this BaseInteractable whenever a periodic copy made. More...

void	setVelocity (const Vec3D &velocity)
	set the velocity of the BaseInteractable. More...

void	setAngularVelocity (const Vec3D &angularVelocity)
	set the angular velocity of the BaseInteractble. More...

void	addVelocity (const Vec3D &velocity)
	adds an increment to the velocity. More...

void	addAngularVelocity (const Vec3D &angularVelocity)
	add an increment to the angular velocity. More...

virtual const Vec3D &	getVelocity () const
	Returns the velocity of this interactable. More...

virtual const Vec3D &	getAngularVelocity () const
	Returns the angular velocity of this interactable. More...

void	setPrescribedPosition (std::function< Vec3D(double)> prescribedPosition)
	Allows the position of an infinite mass interactable to be prescribed. More...

void	applyPrescribedPosition (double time)
	Computes the position from the user defined prescribed position function. More...

void	setPrescribedVelocity (std::function< Vec3D(double)> prescribedVelocity)
	Allows the velocity of an infinite mass interactable to be prescribed. More...

void	applyPrescribedVelocity (double time)
	Computes the velocity from the user defined prescribed velocity function. More...

void	setPrescribedOrientation (std::function< Vec3D(double)> prescribedOrientation)
	Allows the orientation of the infinite mass interactbale to be prescribed. More...

void	applyPrescribedOrientation (double time)
	Computes the orientation from the user defined prescribed orientation function. More...

void	setPrescribedAngularVelocity (std::function< Vec3D(double)> prescribedAngularVelocity)
	Allows the angular velocity of the infinite mass interactable to be prescribed. More...

void	applyPrescribedAngularVelocity (double time)
	Computes the angular velocity from the user defined prescribed angular velocity. More...

virtual const Vec3D	getVelocityAtContact (const Vec3D &contact) const
	Returns the velocity at the contact point, use by many force laws. More...

void	integrateBeforeForceComputation (double time, double timeStep)
	This is part of integrate routine for objects with infinite mass. More...

void	integrateAfterForceComputation (double time, double timeStep)
	This is part of the integration routine for objects with infinite mass. More...

Public Member Functions inherited from BaseObject
	BaseObject ()
	Default constructor. More...

	BaseObject (const BaseObject &p)
	Copy constructor, copies all the objects BaseObject contains. More...

virtual	~BaseObject ()
	virtual destructor More...

virtual void	moveInHandler (const unsigned int index)
	Except that it is virtual, it does the same thing as setIndex() does. More...

void	setIndex (const unsigned int index)
	Allows one to assign an index to an object in the handler/container. More...

void	setId (const unsigned int id)
	Assigns a unique identifier to each object in the handler (container) which remains constant even after the object is deleted from the container/handler. More...

unsigned int	getIndex () const
	Returns the index of the object in the handler. More...

unsigned int	getId () const
	Returns the unique identifier of any particular object. More...

Private Attributes
Vec3D	start_
	The centre of the lower end of the Coil. More...

Mdouble	l_
	The length of the Coil. More...

Mdouble	r_

Mdouble	n_

Mdouble	omega_

Mdouble	offset_

Mdouble	thickness_

Detailed Description

This class defines a coil in the z-direction from a (constant) starting point, a (constant) length L, a (constant) radius r, a (constant) number or revelations N and a (constant) rotation speed (rev/s)

q is a new coordinate going from 0 to 1 and t is the time, x=xs+r*cos(2*pi(offset+N*q)), y=ys+r*sin(2*pi*(offset+N*q)) and z=zs+q*L

Todo:

IFCD: Can someone look at the details of the documentation of class Coil? I can't make sense of them.

Coil is now fixed in Z-direction, centered around the Z-axis. Consider converting to more general parameters, with direction of choise and central axis of choice.

Definition at line 40 of file Coil.h.

Constructor & Destructor Documentation

Coil::Coil ( )

Default constructor, sets a coil with default parameters.

Default constructor, make a Coil which is centered in the origin, has length 1, radius 1, 1 revelation, rotates with 1 rev/s, has thickness 0 and has not rotated.

Definition at line 35 of file Coil.cc.

References DEBUG, l_, logger, n_, offset_, omega_, r_, Vec3D::setZero(), start_, and thickness_.

Referenced by copy().

 {
     start_.setZero();
     l_ = 1.0;
     r_ = 1.0;
     n_ = 1.0;
     omega_ = 1.0;
     offset_ = 0.0;
     thickness_ = 0.0;
     logger(DEBUG, "Coil() constructor finished");              
 }

Coil::Coil ( const Coil & other )

Copy constructor, makes a coil with the same properties as the input Coil.

Parameters

[in] other Coil to be copied into this coil

Definition at line 50 of file Coil.cc.

References DEBUG, l_, logger, n_, offset_, omega_, r_, start_, and thickness_.

                             : BaseWall(other)
 {
     start_ = other.start_;
     l_ = other.l_;
     r_ = other.r_;
     n_ = other.n_;
     omega_ = other.omega_;
     offset_ = other.offset_;
     thickness_ = other.thickness_;
     logger(DEBUG, "Coil(const Coil&) copy constructor finished");
 }

Coil::Coil	(	Vec3D	start,
		Mdouble	l,
		Mdouble	r,
		Mdouble	n,
		Mdouble	omega,
		Mdouble	thickness
	)

Constructor in which all parameters are set.

Parameters

[in]	start	A Vec3D which denotes the centre of the lower end of the Coil.
[in]	l	The length of the Coil, must be positive.
[in]	r	The radius of the Coil, must be positive.
[in]	n	The number of revelations of the Coil, must be positive.
[in]	omega	The rotation speed of the Coil in rev/s.
[in]	thickness	The thickness of the "spiral" of the Coil, must be non-negative.

Make a Coil by assigning all input parameters to the data-members of this class, and setting the offset_ to 0.

Definition at line 72 of file Coil.cc.

References DEBUG, l_, logger, n_, offset_, omega_, r_, start_, and thickness_.

 {
     start_ = start;
     l_ = l;
     r_ = r;
     n_ = n;
     omega_ = omega;
     thickness_ = thickness;
     offset_ = 0.0;
     logger(DEBUG, "Coil(params) constructor with parameters finished.");             
 }

Coil::~Coil ( )

Default destructor.

Definition at line 84 of file Coil.cc.

References DEBUG, and logger.

 {
     logger(DEBUG, "~Coil() destructor finished.");
 }

Member Function Documentation

Coil * Coil::copy ( ) const

overridevirtual

Copy this Coil and return a pointer to the copy, useful for polymorphism.

Returns: A pointer to a copy of this Coil.

Implements BaseWall.

Definition at line 115 of file Coil.cc.

References Coil().

 {
     return new Coil(*this);
 }

bool Coil::getDistanceAndNormal	(	const BaseParticle &	p,
		Mdouble &	distance,
		Vec3D &	normal_return
	)		const

overridevirtual

Compute the distance from the Coil for a given BaseParticle and return if there is a collision. If there is a collision, also return the normal vector of the interaction point.

Parameters

[in]	p	BaseParticle we want to calculate the distance and whether it collided of.
[out]	distance	The distance of the BaseParticle to this Coil.
[out]	normal_return	If there was a collision, the normal vector to this Coil will be placed here.

Returns: A boolean which says whether or not there was a collision.

This function computes whether or not there is a collision between a given BaseParticle and this Coil. If there is a collision, this function also computes the distance between the BaseParticle and Coil and the normal of the IntersectionOfWalls at the intersection point.

Todo:: Make this function readable and explain the steps in the details.

Implements BaseWall.

Definition at line 131 of file Coil.cc.

References Vec3D::getLength(), BaseInteractable::getPosition(), BaseParticle::getWallInteractionRadius(), l_, n_, offset_, constants::pi, R, r_, constants::sqr_pi, start_, thickness_, Vec3D::X, Vec3D::Y, and Vec3D::Z.

Referenced by getInteractionWith().

 {
     Mdouble Rsqr = pow(p.getPosition().X - start_.X, 2) + pow(p.getPosition().Y - start_.Y, 2);
     if (Rsqr > pow(r_ + p.getWallInteractionRadius() + thickness_, 2) || Rsqr < pow(r_ - p.getWallInteractionRadius() - thickness_, 2) || p.getPosition().Z > l_ + start_.Z + p.getWallInteractionRadius() + thickness_ || p.getPosition().Z < start_.Z - p.getWallInteractionRadius() - thickness_)
     {
         //std::cout<<"Particle is out of first bound checking"<<std::endl;
         //std::cout<<"Rule 1: "<<pow(r-P.getRadius()-thickness_,2)<<"<"<<Rsqr<<"<"<<pow(r+P.getRadius()+thickness_,2)<<std::endl;
         //std::cout<<"Rule 2: "<<Start.Z-P.getRadius()-thickness_<<"<"<<P.getPosition().Z<<"<"<<L+Start.Z+P.getRadius()+thickness_<<std::endl;
         return false;
     }
     Mdouble R = sqrt(Rsqr);
     Mdouble alpha = atan2(p.getPosition().Y - start_.Y, p.getPosition().X - start_.X);
     Mdouble dz = p.getPosition().Z - start_.Z;
     
     //To find the contact point we have to minimize (with respect to q)
     //Distance^2=(x-x0-r*cos(2*Pi*(offset+N*q)))^2+(y-y0-r*sin(2*Pi*(offset+N*q)))^2+(z-z0-q*L)^2
     //Using polar coordinated (i.e. x-x0=R*cos(alpha), y-y0=R*sin(alpha) and dz=z-z0)
     //Distance^2=R^2+r^2-2*R*r*cos(alpha-2*Pi*(offset+N*q))+(dz-q*L)^2
     
     //So we have to minimize:
     //Distance^2=R^2+r^2-2*R*r*cos(alpha-2*Pi*(offset+N*q))+(dz-q*L)^2
     //For this we use the Euler algoritm
     
     Mdouble q; //Current guess
     Mdouble dd; //Derivative at current guess
     Mdouble ddd; //Second derivative at current guess
     Mdouble q0 = dz / l_; //Minimum of the parabolic part
             
     //The initial guess will be in the maximum of the cos closest to the minimum of the parabolic part
     //Minima of the cos are at
     //alpha-2*Pi*(offset+N*q)=2*k*Pi (k=integer)
     //q=alpha/(2*Pi*N)-k/N-offset/N (k=integer)
     
     Mdouble k = round(alpha / 2.0 / constants::pi - (offset_ + n_ * q0));
     q = alpha / (2 * constants::pi * n_) - k / n_ - offset_ / n_;
     
     //Now apply Newton's method
     do
     {
         dd = -4.0 * R * r_ * constants::pi * n_ * sin(alpha - 2.0 * constants::pi * (n_ * q + offset_)) - 2.0 * l_ * (dz - q * l_);
         ddd = 8.0 * R * r_ * constants::sqr_pi * n_ * n_ * cos(alpha - 2.0 * constants::pi * (n_ * q + offset_)) + 2.0 * l_ * l_;
         q -= dd / ddd;
     } while (fabs(dd / ddd) > 1e-14);
     
     //Check if the location is actually on the coil, otherwise a point collision with the end of the coil calculated
     if (q < 0) //Left boundary of the coil
     {
         q = 0;
     }
     else if (q > 1) //right boundary of the coil
     {
         q = 1;
     }
     
     Mdouble distanceSquared = R * R + r_ * r_ - 2 * R * r_ * cos(alpha - 2 * constants::pi * (offset_ + n_ * q)) + pow(dz - q * l_, 2);
     //If distance is too large there is no contact
     if (distanceSquared >= (p.getWallInteractionRadius() + thickness_) * (p.getWallInteractionRadius() + thickness_))
     {
         //std::cout<<"Particle is out of second bound checking, distance^2="<<distance<<" max="<<(P.getRadius()+thickness_)*(P.getRadius()+thickness_)<<std::endl;
         return false;
     }
     
     Vec3D ContactPoint;
     distance = sqrt(distanceSquared) - thickness_;
     ContactPoint.X = start_.X + r_ * cos(2.0 * constants::pi * (offset_ + n_ * q));
     ContactPoint.Y = start_.Y + r_ * sin(2.0 * constants::pi * (offset_ + n_ * q));
     ContactPoint.Z = start_.Z + q * l_;
     normal_return = ContactPoint - p.getPosition();
     normal_return /= normal_return.getLength();
     return true;
 }

BaseInteraction * Coil::getInteractionWith	(	BaseParticle *	p,
		Mdouble	timeStamp,
		InteractionHandler *	interactionHandler
	)

virtual

Get the interaction between this Coil and given BaseParticle at a given time.

Parameters

[in]	p	Pointer to the BaseParticle which we want to check the interaction for.
[in]	timeStamp	The time at which we want to look at the interaction.
[in]	interactionHandler	A pointer to the InteractionHandler in which the interaction can be found.

Returns: A pointer to the BaseInteraction that happened between this Coil and the BaseParticle at the timeStamp.

Todo:: {DK: What is the contact point for interactions with walls}

Implements BaseInteractable.

Definition at line 210 of file Coil.cc.

References getDistanceAndNormal(), InteractionHandler::getInteraction(), BaseInteraction::getNormal(), BaseInteraction::getOverlap(), BaseInteractable::getPosition(), BaseParticle::getRadius(), BaseInteraction::setContactPoint(), BaseInteraction::setDistance(), BaseInteraction::setNormal(), and BaseInteraction::setOverlap().

 {
     Mdouble distance;
     Vec3D normal;
     if (getDistanceAndNormal(*p,distance,normal))
     {
         BaseInteraction* c = interactionHandler->getInteraction(p, this, timeStamp);
         c->setNormal(-normal);
         c->setDistance(distance);
         c->setOverlap(p->getRadius() - distance);
         c->setContactPoint(p->getPosition() - (p->getRadius()- 0.5 * c->getOverlap()) * c->getNormal());
         return c;
     }
     else
     {
         return nullptr;
     }
 }

std::string Coil::getName ( ) const

overridevirtual

Returns the name of the object, in this case the string "Coil".

Returns: The string "Coil".

Implements BaseObject.

Definition at line 285 of file Coil.cc.

 {
     return "Coil";
 }

void Coil::move_time ( Mdouble dt )

Rotate the Coil for a period dt, so that the offset_ changes with omega_*dt.

Parameters

[in] dt The time for which the Screw has to be turned.

Definition at line 233 of file Coil.cc.

References offset_, and omega_.

 {
     offset_ += omega_ * dt;
 }

void Coil::oldRead ( std::istream & is )

Reads an old-style Coil from an input stream, for example an old restart file.

Deprecated:: If you have old restart files, please convert them to the current version of the restart files and use read(std::istream&) instead of oldRead(std::istream&).

Parameters

[in,out] is The input stream from which the Coil is read.

Definition at line 257 of file Coil.cc.

References l_, n_, offset_, omega_, r_, and start_.

 {
     std::string dummy;
     is >> dummy >> start_
             >> dummy >> l_
             >> dummy >> r_ >> dummy >> n_
             >> dummy >> omega_
             >> dummy >> offset_;
 }

void Coil::read ( std::istream & is )

overridevirtual

Reads a Coil from an input stream, for example a restart file.

Parameters

[in,out] is The input stream from which the Coil is read.

Reimplemented from BaseWall.

Definition at line 241 of file Coil.cc.

References l_, n_, offset_, omega_, r_, BaseWall::read(), start_, and thickness_.

 {
     BaseWall::read(is);
     std::string dummy;
     is >> dummy >> start_
             >> dummy >> l_
             >> dummy >> r_
             >> dummy >> n_
             >> dummy >> omega_
             >> dummy >> thickness_
             >> dummy >> offset_;
 }

void Coil::set	(	Vec3D	start,
		Mdouble	length,
		Mdouble	radius,
		Mdouble	numberOfRevelations,
		Mdouble	omega,
		Mdouble	thickness
	)

Set all parameters of this Coil.

Set the parameters of this Coil by assigning all input parameters to the data-members of this class, and setting the offset_ to 0.

Parameters

[in]	start	A Vec3D which denotes the centre of the lower end of the Coil.
[in]	length	The length of the Coil, must be positive.
[in]	radius	The radius of the Coil, must be positive.
[in]	numberOfRevelations	The number of revelations of the Coil, must be positive.
[in]	omega	The rotation speed of the Coil in rev/s.
[in]	thickness	The thickness of the "spiral" of the Coil, must be non-negative.

Definition at line 101 of file Coil.cc.

References l_, n_, offset_, omega_, r_, start_, and thickness_.

 {
     start_ = start;
     l_ = length;
     r_ = radius;
     n_ = numberOfRevelations;
     omega_ = omega;
     thickness_ = thickness;
     offset_ = 0.0;
 }

void Coil::write ( std::ostream & os ) const

overridevirtual

Writes a Coil to an output stream, for example a restart file.

Parameters

[in,out] os The outpus stream to which the Coil is written.

Reimplemented from BaseWall.

Definition at line 270 of file Coil.cc.

References l_, n_, offset_, omega_, r_, start_, thickness_, and BaseWall::write().

         {
     BaseWall::write(os);
     os << " Start " << start_
             << " Length " << l_
             << " Radius " << r_
             << " Revolutions " << n_
             << " Omega " << omega_
             << " Thickness " << thickness_
             << " Offset " << offset_;
 }