#include <SineWall.h>

Inheritance diagram for SineWall:

Public Member Functions
	SineWall ()
	Default constructor, sets a chute with default parameters. More...

	SineWall (const SineWall &other)
	Copy constructor. More...

	SineWall (Mdouble length, Mdouble sw_wavn, Mdouble sw_phshift, Mdouble sw_amp)
	Constructor in which all parameters are set. More...

	~SineWall () override

void	set (Mdouble length, Mdouble sw_wavn, Mdouble sw_phshift, Mdouble sw_amp)

SineWall *	copy () const override
	Pure virtual function that can be overwritten in inherited classes in order to copy a BaseWall. More...

bool	getDistanceAndNormal (const BaseParticle &P, Mdouble &distance, Vec3D &normal_return) const override
	Pure virtual function that computes the distance of a BaseParticle to this wall and returns the normal of this wall if there is a collision. More...

BaseInteraction *	getInteractionWith (BaseParticle p, unsigned timeStamp, InteractionHandler interactionHandler) override
	Returns the interaction between this wall and a given particle, nullptr if there is no interaction. More...

void	read (std::istream &is) override

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

std::string	getName () const override

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

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

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

virtual bool	getDistanceNormalOverlap (const BaseParticle &P, Mdouble &distance, Vec3D &normal_return, Mdouble &overlap) const

virtual bool	getDistanceNormalOverlapSuperquadric (const SuperQuadricParticle &p, Mdouble &distance, Vec3D &normal_return, Mdouble &overlap) const

virtual Vec3D	getFurthestPointSuperQuadric (const Vec3D &normalBodyFixed, const Vec3D &axes, Mdouble eps1, Mdouble eps2) const

virtual 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) override
	Define the species of this wall using the index of the species in the SpeciesHandler in this DPMBase. More...

void	setSpecies (const ParticleSpecies *species)
	Defines the species of the current wall. More...

bool	isFixed () const override

void	setForceControl (Vec3D forceGoal, Vec3D gainFactor, Vec3D baseVelocity={0, 0, 0})
	Slowly adjusts the force on a wall towards a specified goal, by adjusting (prescribing) the velocity of the wall. More...

virtual bool	isLocal (Vec3D &min, Vec3D &max) const

bool	getLinePlaneIntersect (Vec3D &intersect, const Vec3D &p0, const Vec3D &p1, const Vec3D &n, const Vec3D &p)

bool	isInsideWallVTK (const Vec3D &point, const Vec3D &normal, const Vec3D &position) const

void	projectOntoWallVTK (Vec3D &point0, const Vec3D &point1, const Vec3D &normal, const Vec3D &position) const

void	intersectVTK (std::vector< Vec3D > &points, Vec3D normal, Vec3D position) const

virtual BaseInteraction *	getInteractionWithSuperQuad (SuperQuadricParticle p, unsigned timeStamp, InteractionHandler interactionHandler)

virtual void	writeVTK (VTKContainer &vtk) const

void	getVTK (std::vector< Vec3D > &points, std::vector< std::vector< double >> &triangleStrips)

const Vec3D	getAxis () const

virtual void	actionsOnRestart ()
	No implementation but can be overidden in its derived classes. More...

virtual void	actionsAfterParticleGhostUpdate ()
	No implementation but can be overidden in its derived classes. More...

virtual void	handleParticleAddition (unsigned int id, BaseParticle *p)
	Handles the addition of particles to the particleHandler. More...

virtual void	handleParticleRemoval (unsigned int id)
	Handles the addition of particles to the particleHandler. More...

virtual void	checkInteractions (InteractionHandler *interactionHandler, unsigned int timeStamp)
	Check if all interactions are valid. More...

bool	getVTKVisibility () const

void	setVTKVisibility (bool vtkVisibility)

void	addRenderedWall (BaseWall *w)

BaseWall *	getRenderedWall (size_t i) const

void	removeRenderedWalls ()

void	renderWall (VTKContainer &vtk)

void	addParticlesAtWall (unsigned numElements=50)

void	setVelocityControl (Vec3D forceGoal, Vec3D gainFactor, Vec3D baseVelocity)

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

	BaseInteractable (const BaseInteractable &p)
	Copy constructor. More...

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

unsigned int	getIndSpecies () const
	Returns the index of the species associated with the interactable object. 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 (const Vec3D &force)
	Sets the force on this BaseInteractable. More...

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

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

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

void	resetForceTorque (int numberOfOMPthreads)

void	sumForceTorqueOMP ()

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

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

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

void	setOrientationViaNormal (Vec3D normal)
	Sets the orientation of this BaseInteractable by defining the vector that results from the rotation of the (1,0,0) vector. More...

void	setOrientationViaEuler (Vec3D eulerAngle)
	Sets the orientation of this BaseInteractable by defining the euler angles. More...

void	setOrientation (const Quaternion &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...

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

const std::vector < BaseInteraction * > &	getInteractions () const
	Returns a list of interactions which belong to this interactable. 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 (const 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 (const 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 (const std::function< Quaternion(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 (const 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...

virtual Mdouble	getInvMass () const

virtual Mdouble	getCurvature (const Vec3D &labFixedCoordinates) const

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

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

virtual	~BaseObject ()=default
	virtual destructor More...

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

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

void	setId (unsigned long 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...

void	setGroupId (unsigned groupId)

unsigned	getGroupId () const

Private Attributes
Mdouble	l_

Mdouble	sw_amp_

Mdouble	sw_wavn_

Mdouble	sw_phshift_

Additional Inherited Members
Static Public Member Functions inherited from BaseWall
static void	addToVTK (const std::vector< Vec3D > &points, VTKContainer &vtk)
	Takes the points provided and adds a triangle strip connecting these points to the vtk container. More...

Detailed Description

A half-infinite surface which has a sinusoidal direction in the x direction, and no variation in the y direction.

The equation of the surface is z = sw_amp * sin( sw_wavn * x + sw_phshift ) for x < l Because this is nonlinear, we must solve for the interaction location using Newton's method.

Definition at line 40 of file SineWall.h.

Constructor & Destructor Documentation

SineWall::SineWall ( )

Default constructor, sets a chute with default parameters.

Definition at line 30 of file SineWall.cc.

References DEBUG, l_, logger, sw_amp_, sw_phshift_, and sw_wavn_.

Referenced by copy().

 {
     l_ = 1.0;
     sw_wavn_ = 0.0;
     sw_phshift_ = 0.0;
     sw_amp_ = 0.0;
     logger(DEBUG, "SineWall() constructor finished");
 }

SineWall::SineWall ( const SineWall & other )

Copy constructor.

Definition at line 39 of file SineWall.cc.

References DEBUG, l_, logger, sw_amp_, sw_phshift_, and sw_wavn_.

                                         : BaseWall(other)
 {
     l_ = other.l_;
     sw_wavn_ = other.sw_wavn_;
     sw_phshift_ = other.sw_phshift_;
     sw_amp_ = other.sw_amp_;
     logger(DEBUG, "SineWall copy constructor finished");
 }

SineWall::SineWall	(	Mdouble	length,
		Mdouble	sw_wavn,
		Mdouble	sw_phshift,
		Mdouble	sw_amp
	)

Constructor in which all parameters are set.

Definition at line 48 of file SineWall.cc.

References DEBUG, l_, logger, sw_amp_, sw_phshift_, and sw_wavn_.

 {
     l_ = length;
     sw_wavn_ = sw_wavn;
     sw_phshift_ = sw_phshift;
     sw_amp_ = sw_amp;
     logger(DEBUG, "SineWall(params) constructor finished");
 }

SineWall::~SineWall ( )

override

Definition at line 57 of file SineWall.cc.

References DEBUG, and logger.

 {
     logger(DEBUG, "SineWall destructor finished");
 }

Member Function Documentation

SineWall * SineWall::copy ( ) const

overridevirtual

Pure virtual function that can be overwritten in inherited classes in order to copy a BaseWall.

Returns: A pointer to the new BaseWall.

Implements BaseWall.

Definition at line 70 of file SineWall.cc.

References SineWall().

 {
     return new SineWall(*this);
 }

bool SineWall::getDistanceAndNormal	(	const BaseParticle &	P,
		Mdouble &	distance,
		Vec3D &	normal_return
	)		const

overridevirtual

Pure virtual function that computes the distance of a BaseParticle to this wall and returns the normal of this wall if there is a collision.

Beware, the distance and normal are output parameters, not return values!

Parameters

[in]	P	Reference to the BaseParticle we want to compute the distance to the BaseWall of.
[out]	distance	Distance of the BaseParticle to the BaseWall.
[out]	normal_return	The normal of the wall. Is only given if there is a collision.

Returns: A boolean which indicates if there is a collision between the BaseParticle and the wall.

Implements BaseWall.

Definition at line 75 of file SineWall.cc.

References A, mathsFunc::cos(), Vec3D::getLength(), BaseInteractable::getPosition(), BaseParticle::getRadius(), BaseParticle::getWallInteractionRadius(), R, mathsFunc::sin(), mathsFunc::square(), sw_amp_, sw_phshift_, sw_wavn_, Vec3D::X, Vec3D::Y, and Vec3D::Z.

Referenced by getInteractionWith().

 {
     /* Define some shortcuts */
     double x0 = p.getPosition().X;
     double y0 = p.getPosition().Y;
     double z0 = p.getPosition().Z;
     double a = p.getRadius();
     
     // more shortcuts
     double A = sw_amp_;
     double k = sw_wavn_;
     double ph = sw_phshift_;
     
     /* First, check whether the particle is definitely out of contact with the
      * chute. This will be so if the particle's interaction radius is small and
      * the particle's z-position is high. */
     // TODO do this properly
     if (z0 > A + a)
         return false;
         
         /* Or, if the particle lies under the surface, then it is expelled
          * perpendicularly. This shouldn't happen very often provided that the step
          * size is small.*/
     else if (z0 < A * sin(k * x0 + ph))
     {
         fprintf(stderr, "Particle at x0=%f, z0=%f is under SineWall\n", x0, z0);
         // exit(-1);
         
         distance = A * sin(k * x0 + ph) - z0;
         normal_return = Vec3D(0, 0, 1);
         return true;
     }
         
         /* Otherwise, find the contact point by using Newton's method to minimise
          * (half of the squared) distance */
     else
     {
         // Iterate according to Newton-Raphson
         double q = x0;
         double correction = 0;
         // fprintf(stderr, "x0 = %lf, z0 = %lf, q = %lf\n", x0, z0, q);
         do
         {
             double z = A * sin(k * q + ph);
             double dzdq = A * k * cos(k * q + ph);
             double d2zdq2 = -A * pow(k, 2) * sin(k * q + ph);
             
             // (Half of the square of the) distance. Not used.
             double R = 0.5 * (pow(q - x0, 2) + pow(z - z0, 2));
             // derivative of half the squared distance -- to be zeroed
             double dRdq = q - x0 + (z - z0) * dzdq;
             // second derivative of half the squared distance
             double d2Rdq2 = 1 + (z - z0) * d2zdq2 + pow(dzdq, 2);
             // The required correction to our current estimate. (Note the sign
             // convention that this is to be subtracted.)
             correction = dRdq / d2Rdq2;
             //fprintf(stderr, "x0 = %.12lf, z0 = %.12lf, q = %.12lf, dRdq = %e, d2Rdq2 = %e, correction = %.e\n", 
             //       x0, z0, q, dRdq, d2Rdq2, correction);
             // N-R update
             q -= correction;
             // Perhaps this form is useful for reducing rounding errors?
             // q = (q*d2Rdq2 - dRdq)/d2Rdq2;         
         } while (fabs(correction) > 1e-14);
         //fprintf(stderr, "correction = %e\n", fabs(correction));
         
         // The standard Newton-Raphson iteration won't work, because the problem is
         // too oscillatory (and N-R will converge on a near-root minimum, not the
         // root). Neither does the following, a modified N-R which takes second and
         // third derivatives into account. 
         /*
            double q = x0;
            double correction = 0;
            do 
            {
         // derivative of half the squared distance
         double dRdq = q - x0 - A*pow(k,2)*z0*cos(k*q+ph) + 0.5*pow(A,2)*pow(k,3)*sin(2*k*q+2*ph);
         // second derivative
         double d2Rdq2 = 1 + pow(A,2)*pow(k,4)*cos(2*k*q+2*ph) + A*pow(k,3)*z0*sin(k*q+ph);
         // third derivative
         double d2Rdq2d = A*pow(k,4)*cos(k*q+ph) * (z0 - 4*A*k*sin(k*q+ph));
 
         double discriminant = d2Rdq2*d2Rdq2 - 2*dRdq*d2Rdq2d;
         double newq = discriminant > 0 ? 
         q - (d2Rdq2 - sqrt(discriminant)) / d2Rdq2d
         : q - dRdq / d2Rdq2;
         double correction = newq/q - 1;
         fprintf(stderr, "x0 = %.12lf, z0 = %.12lf, q = %.12lf, newq = %.12lf, correction = %e\n",
         x0, z0, q, newq, correction);
         q = newq;
         } while (fabs(correction) > 1e-7);
         fprintf(stderr, "converged, fabs(correction) = %e\n", fabs(correction));
         */
         
         Mdouble distanceSquared
                 = pow(q - x0, 2) + pow(sw_amp_ * sin(sw_wavn_ * q + sw_phshift_) - z0, 2);
         
         if (distanceSquared >= mathsFunc::square(p.getWallInteractionRadius(this))
             && z0 > sw_amp_ * sin(sw_wavn_ * q + sw_phshift_))
         {
             return false;
         }
         else
         {
             Vec3D ContactPoint;
             distance = sqrt(distanceSquared);
             ContactPoint.X = q;
             ContactPoint.Y = y0;
             ContactPoint.Z = sw_amp_ * sin(sw_wavn_ * q + sw_phshift_);
             // normal_return = ContactPoint - p.getPosition();
             normal_return = ContactPoint - p.getPosition();
             normal_return /= normal_return.getLength();
             return true;
         }
     }
 }

BaseInteraction * SineWall::getInteractionWith	(	BaseParticle *	p,
		unsigned	timeStamp,
		InteractionHandler *	interactionHandler
	)

overridevirtual

Returns the interaction between this wall and a given particle, nullptr if there is no interaction.

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 BaseWall and the BaseParticle at the timeStamp.

Todo:: Hacked please fix

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

Reimplemented from BaseWall.

Definition at line 192 of file SineWall.cc.

References getDistanceAndNormal(), InteractionHandler::getInteraction(), 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());
         c->setContactPoint(p->getPosition() + distance * normal);
         return c;
     }
     else
         return nullptr;
 }

std::string SineWall::getName ( ) const

overridevirtual

Returns: The string "SineWall".

Implements BaseObject.

Definition at line 239 of file SineWall.cc.

 {
     return "SineWall";
 }

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

overridevirtual

Parameters

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

Reimplemented from BaseWall.

Definition at line 214 of file SineWall.cc.

References l_, BaseWall::read(), sw_amp_, sw_phshift_, and sw_wavn_.

 {
     BaseWall::read(is);
     std::string dummy;
     is >> dummy >> l_
        >> dummy >> sw_wavn_
        >> dummy >> sw_phshift_
        >> dummy >> sw_amp_;
 }

void SineWall::set	(	Mdouble	length,
		Mdouble	sw_wavn,
		Mdouble	sw_phshift,
		Mdouble	sw_amp
	)

Definition at line 62 of file SineWall.cc.

References l_, sw_amp_, sw_phshift_, and sw_wavn_.

 {
     l_ = length;
     sw_wavn_ = sw_wavn;
     sw_phshift_ = sw_phshift;
     sw_amp_ = sw_amp;
 }

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

overridevirtual

Parameters

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

Reimplemented from BaseWall.

Definition at line 227 of file SineWall.cc.

References l_, sw_amp_, sw_phshift_, sw_wavn_, and BaseWall::write().

 {
     BaseWall::write(os);
     os << " Length " << l_
        << " sw_wavn " << sw_wavn_
        << " sw_phshift " << sw_phshift_
        << " sw_amp " << sw_amp_;
 }