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FrictionSpecies.cc
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25 
26 #include "FrictionSpecies.h"
27 #include<cmath>
28 #include "Species/BaseSpecies.h"
29 
30 class BaseParticle;
31 
32 class BaseInteractable;
33 
36 {
37  rollingStiffness_ = 0.0;
38  rollingDissipation_ = 0.0;
41  torsionStiffness_ = 0.0;
42  torsionDissipation_ = 0.0;
45 #ifdef DEBUG_CONSTRUCTOR
46  std::cout<<"FrictionSpecies::FrictionSpecies() finished"<<std::endl;
47 #endif
48 }
49 
55 {
64 #ifdef DEBUG_CONSTRUCTOR
65  std::cout<<"FrictionSpecies::FrictionSpecies(const FrictionSpecies &p) finished"<<std::endl;
66 #endif
67 }
68 
70 {
71 #ifdef DEBUG_DESTRUCTOR
72  std::cout<<"FrictionSpecies::~FrictionSpecies() finished"<<std::endl;
73 #endif
74 }
75 
79 void FrictionSpecies::write(std::ostream& os) const
80 {
82  os << " rollingStiffness " << rollingStiffness_;
83  os << " rollingDissipation " << rollingDissipation_;
84  os << " rollingFrictionCoefficient " << rollingFrictionCoefficient_;
85  os << " rollingFrictionCoefficientStatic " << rollingFrictionCoefficientStatic_;
86  os << " torsionStiffness " << torsionStiffness_;
87  os << " torsionDissipation " << torsionDissipation_;
88  os << " torsionFrictionCoefficient " << torsionFrictionCoefficient_;
89  os << " torsionFrictionCoefficientStatic " << torsionFrictionCoefficientStatic_;
90 }
91 
95 void FrictionSpecies::read(std::istream& is)
96 {
98  std::string dummy;
99  is >> dummy >> rollingStiffness_;
100  is >> dummy >> rollingDissipation_;
101  is >> dummy >> rollingFrictionCoefficient_;
102  is >> dummy >> rollingFrictionCoefficientStatic_;
103  is >> dummy >> torsionStiffness_;
104  is >> dummy >> torsionDissipation_;
105  is >> dummy >> torsionFrictionCoefficient_;
106  is >> dummy >> torsionFrictionCoefficientStatic_;
107 }
108 
112 std::string FrictionSpecies::getBaseName() const
113 {
114  return "Friction";
115 }
116 
124 {
125  return true;
126 }
127 
134 {
145 }
146 
149 {
150  if (new_kt >= 0)
151  {
152  rollingStiffness_ = new_kt;
153  }
154  else
155  {
156  std::cerr << "Error in setRollingStiffness" << std::endl;
157  exit(-1);
158  }
159 }
160 
163 {
164  return rollingStiffness_;
165 }
166 
169 {
170  if (new_dispt >= 0)
171  rollingDissipation_ = new_dispt;
172  else
173  {
174  std::cerr << "Error in setRollingDissipation" << std::endl;
175  exit(-1);
176  }
177 }
178 
181 {
182  return rollingDissipation_;
183 }
184 
186 //mu has to be set to allow tangential forces (sets dispt=disp as default)
188 {
189  if (new_mu >= 0)
190  {
193  }
194  else
195  logger(ERROR, "[FrictionSpecies::setRollingFrictionCoefficient(Mdouble)] The coefficient of friction must be nonnegative.");
196 }
197 
200 {
202 }
203 
206 {
207  if (new_mu >= 0)
208  {
210  }
211  else
212  logger(ERROR, "[FrictionSpecies::setRollingFrictionCoefficientStatic(Mdouble)] The coefficient of friction must be nonnegative.");
213 }
214 
217 {
219 }
220 
221 
224 {
225  if (new_kt >= 0)
226  {
227  torsionStiffness_ = new_kt;
228  }
229  else
230  {
231  std::cerr << "Error in setTorsionStiffness" << std::endl;
232  exit(-1);
233  }
234 }
235 
238 {
239  return torsionStiffness_;
240 }
241 
244 {
245  if (new_dispt >= 0)
246  torsionDissipation_ = new_dispt;
247  else
248  {
249  std::cerr << "Error in setTorsionDissipation" << std::endl;
250  exit(-1);
251  }
252 }
253 
256 {
257  return torsionDissipation_;
258 }
259 
261 //mu has to be set to allow tangential forces (sets dispt=disp as default)
263 {
264  if (new_mu >= 0)
265  {
268  }
269  else
270  {
271  std::cerr << "Error in setSlidingFrictionCoefficient" << std::endl;
272  exit(-1);
273  }
274 }
275 
278 {
280 }
281 
284 {
285  if (new_mu >= 0)
286  {
288  }
289  else
290  {
291  std::cerr << "Error in setSlidingFrictionCoefficientStatic" << std::endl;
292  exit(-1);
293  }
294 }
295 
298 {
300 }
void read(std::istream &is)
Reads the species properties from an input stream.
bool getUseAngularDOFs() const override
Returns true if torques have to be calculated.
Mdouble getRollingFrictionCoefficient() const
Allows the (dynamic) Coulomb friction coefficient to be accessed.
void setRollingFrictionCoefficientStatic(Mdouble new_mu)
Allows the static Coulomb rolling friction coefficient to be changed.
void setTorsionFrictionCoefficient(Mdouble new_mu)
Allows the (dynamic) Coulomb torsion friction coefficient to be changed; also sets mu_s by default...
Logger< MERCURY_LOGLEVEL > logger("MercuryKernel")
double Mdouble
Definition: GeneralDefine.h:34
Mdouble getTorsionFrictionCoefficient() const
Allows the (dynamic) Coulomb torsion friction coefficient to be accessed.
void setTorsionStiffness(Mdouble new_kt)
Allows the torsion stiffness to be changed.
FrictionSpecies contains the parameters used to describe sliding, rolling and torsional friction...
Mdouble rollingStiffness_
rolling stiffness.
Mdouble rollingDissipation_
rolling dissipation coefficient.
void setRollingStiffness(Mdouble new_kt)
Allows the spring constant to be changed.
Mdouble rollingFrictionCoefficientStatic_
static Coulomb rolling friction coefficient (by default set equal to the dynamic one).
void write(std::ostream &os) const
Writes the species properties to an output stream.
void mix(FrictionSpecies *S, FrictionSpecies *T)
creates default values for mixed species
FrictionSpecies()
The default constructor.
Mdouble getTorsionStiffness() const
Allows the torsion stiffness to be accessed.
std::string getBaseName() const override
Used in Species::getName to obtain a unique name for each Species.
Mdouble getRollingDissipation() const
Allows the tangential viscosity to be accessed.
Mdouble getRollingFrictionCoefficientStatic() const
Allows the static Coulomb rolling friction coefficient to be accessed.
Mdouble getRollingStiffness() const
Allows the spring constant to be accessed.
void setTorsionFrictionCoefficientStatic(Mdouble new_mu)
Allows the static Coulomb torsion friction coefficient to be accessed.
Mdouble torsionDissipation_
rolling dissipation coefficient.
void setTorsionDissipation(Mdouble new_dispt)
Allows the torsion viscosity to be changed.
void read(std::istream &is)
Reads the species properties from an input stream.
void setRollingFrictionCoefficient(Mdouble new_mu)
Allows the (dynamic) Coulomb friction coefficient to be changed; also sets mu_s by default...
static Mdouble averageInf(Mdouble a, Mdouble b)
Returns the harmonic mean of two variables, returning inf if either is inf.
Definition: BaseSpecies.cc:120
Mdouble torsionFrictionCoefficient_
(dynamic) Coulomb torsion friction coefficient.
static Mdouble average(Mdouble a, Mdouble b)
Returns the harmonic mean of two variables.
Definition: BaseSpecies.cc:110
Mdouble rollingFrictionCoefficient_
(dynamic) Coulomb rolling friction coefficient.
SlidingFrictionSpecies contains the parameters used to describe sliding friction. ...
void write(std::ostream &os) const
Writes the species properties to an output stream.
~FrictionSpecies()
The default destructor.
void setRollingDissipation(Mdouble new_dispt)
Allows the tangential viscosity to be changed.
Defines the basic properties that a interactable object can have.
Mdouble torsionFrictionCoefficientStatic_
static Coulomb torsion friction coefficient (by default set equal to the dynamic one).
Mdouble torsionStiffness_
rolling stiffness.
Mdouble getTorsionDissipation() const
Allows the torsion viscosity to be accessed.
Mdouble getTorsionFrictionCoefficientStatic() const
Allows the static Coulomb torsion friction coefficient to be accessed.