#include <WearableTriangulatedWall.h>

Inheritance diagram for WearableTriangulatedWall:

Public Member Functions
	WearableTriangulatedWall ()
	Default constructor. More...

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

	WearableTriangulatedWall (Mdouble lengthU, Mdouble lengthV, Mdouble resolutionU, Mdouble resolutionV)
	Creates flat triangulated rectangle with certain resolution. More...

	~WearableTriangulatedWall () override
	Destructor. More...

WearableTriangulatedWall &	operator= (const WearableTriangulatedWall &other)

WearableTriangulatedWall *	copy () const override
	Wall copy method. It calls the copy constructor of this Wall, useful for polymorphism. More...

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

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

std::string	getName () const override
	Returns the name of the object, here the string "WearableTriangulatedWall". More...

void	computeWear () override

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

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

	TriangulatedWall (std::string filename, const ParticleSpecies *species)
	Constructor setting values. More...

	TriangulatedWall (const std::vector< Vec3D > &points, const std::vector< std::vector< unsigned >> &cells, const ParticleSpecies *species)
	Constructor setting values. More...

void	set (const std::vector< Vec3D > &points, const std::vector< std::vector< unsigned >> &cells)

void	readVTK (std::string filename)

void	writeVTK (VTKContainer &vtk) const override

	~TriangulatedWall () override
	Destructor. More...

TriangulatedWall &	operator= (const TriangulatedWall &other)

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

void	move (const Vec3D &move) override
	Move the TriangulatedWall to a new position, which is a Vec3D from the old position. More...

BaseInteraction *	getInteractionWith (BaseParticle p, unsigned timeStamp, InteractionHandler interactionHandler) override
	Get the interaction between this TriangulatedWall and given BaseParticle at a given time. More...

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)

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

std::vector< BaseWall * >	getRenderedWalls () const

void	removeRenderedWalls ()

void	renderWall (VTKContainer &vtk)

void	addParticlesAtWall (unsigned numElements=50)

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

virtual void	writeWallDetailsVTK (VTKData &data) const

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...

virtual 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...

virtual 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...

virtual void	setOrientation (const Quaternion &orientation)
	Sets the orientation of this BaseInteractable. 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

virtual bool	isFaceContact (const Vec3D &normal) 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 Member Functions
void	storeDebris (Vec3D P, const Vec3D &debris)

void	processDebris ()

Private Attributes
std::vector< std::vector< Vec3D > >	debris_

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...

Protected Attributes inherited from TriangulatedWall
std::vector< Vec3D >	vertex_

std::vector< Face >	face_

Constructor & Destructor Documentation

◆ WearableTriangulatedWall() [1/3]

WearableTriangulatedWall::WearableTriangulatedWall ( )

Default constructor.

 {
     logger(DEBUG, "WearableTriangulatedWall() constructed.");
 }

References DEBUG, and logger.

Referenced by copy().

◆ WearableTriangulatedWall() [2/3]

WearableTriangulatedWall::WearableTriangulatedWall ( const WearableTriangulatedWall & other )

Copy constructor.

Parameters

[in] other The WearableTriangulatedWall that must be copied.

         : TriangulatedWall(other)
 {
     debris_ = other.debris_;
 }

References debris_.

◆ WearableTriangulatedWall() [3/3]

WearableTriangulatedWall::WearableTriangulatedWall	(	Mdouble	lengthU,
		Mdouble	lengthV,
		Mdouble	resolutionU,
		Mdouble	resolutionV
	)

Creates flat triangulated rectangle with certain resolution.

Parameters

lengthU	Length in u-direction
lengthV	Length in v-direction
resolutionU	Max stepsize in u-direction
resolutionV	Max stepsize in v-direction

     : TriangulatedWall()
 {
     // Make resolutions fit
     auto numU = static_cast<unsigned>(lengthU / resolutionU);
     if (lengthU / numU > resolutionU)
     {
         numU++;
         resolutionU = lengthU / numU;
     }
     auto numV = static_cast<unsigned>(lengthV / resolutionV);
     if (lengthV / numV > resolutionV)
     {
         numV++;
         resolutionV = lengthV / numV;
     }
     
     // Actual number of points is one more
     numU++;
     numV++;
     
     std::vector<Vec3D> points;
     std::vector<std::vector<unsigned>> cells;
     
     points.reserve(numU * numV);
     cells.reserve(2 * (numU - 1) * (numV - 1));
     
     for (unsigned j = 0; j < numV; j++)
     {
         for (unsigned i = 0; i < numU; i++)
         {
             Vec3D p = Vec3D(i * resolutionU, j * resolutionV, 0.0);
             points.push_back(p);
             
             if (i < numU - 1 && j < numV - 1)
             {
                 // Bottom left
                 unsigned baseIdx = i + j * numU;
                 // Bottom left, top left, top right (clockwise)
                 cells.push_back({baseIdx, baseIdx + numU, baseIdx + numU + 1});
                 // Bottom left, top right, bottom right (clockwise)
                 cells.push_back({baseIdx, baseIdx + numU + 1, baseIdx + 1});
             }
         }
     }
     
     TriangulatedWall::set(points, cells);
     
     // Initialize debris vector
     std::vector<Vec3D> temp0(3, Vec3D(0.0, 0.0, 0.0));
     std::vector<std::vector<Vec3D>> temp1(face_.size(), temp0);
     debris_ = temp1;
 }

References debris_, TriangulatedWall::face_, constants::i, and TriangulatedWall::set().

◆ ~WearableTriangulatedWall()

WearableTriangulatedWall::~WearableTriangulatedWall ( )

override

Destructor.

 {
     logger(DEBUG, "~WearableTriangulatedWall() has been called.");
 }

References DEBUG, and logger.

Member Function Documentation

◆ computeWear()

void WearableTriangulatedWall::computeWear ( )

overridevirtual

Reimplemented from BaseWall.

 {
     // Archard wear model, from https://en.wikipedia.org/wiki/Archard_equation
     // Q = KWL/H
     // Q is the total volume of wear debris produced
     // K is a dimensionless constant (typically mild wear 1e-8, severe wear 1e-2)
     // W is the total normal load
     // L is the sliding distance
     // H is the hardness of the softest contacting surfaces
     
     const Mdouble dt = getHandler()->getDPMBase()->getTimeStep();
     
     for (BaseInteraction* interaction : getInteractions())
     {
         // Ignore interactions from periodic particles. (Although it seems Q evaluates to 0 anyway (absolute normal force equals 0), but just to be sure)
         if (static_cast<BaseParticle*>(interaction->getP())->getPeriodicFromParticle() != nullptr)
             continue;
         
         Mdouble K = 1.0e-6; // For testing only, should be set by user
         Mdouble W = interaction->getAbsoluteNormalForce();
         // Pythagoras to get tangential magnitude from vector and normal magnitude
         Mdouble tangentialRelativeVelocity = std::sqrt(interaction->getRelativeVelocity().getLengthSquared() -
                                                        interaction->getNormalRelativeVelocity() * interaction->getNormalRelativeVelocity());
         Mdouble L = tangentialRelativeVelocity * dt;
         Mdouble H = 1.0; // For testing only, should be set by user
         Mdouble Q = K * W * L / H;
     
         storeDebris(interaction->getContactPoint(), interaction->getNormal() * -Q);
 //        storeDebris(interaction->getContactPoint(), Vec3D(0.0, 0.0, 1.0) * -Q);
     }
     
     if (!getInteractions().empty())
     {
         processDebris();
         
         // Reset debris to zero
         std::vector<Vec3D> temp0(3, Vec3D(0.0, 0.0, 0.0));
         std::fill(debris_.begin(), debris_.end(), temp0);
     }
 }

References debris_, BaseHandler< T >::getDPMBase(), BaseWall::getHandler(), BaseInteractable::getInteractions(), BaseParticle::getPeriodicFromParticle(), DPMBase::getTimeStep(), processDebris(), and storeDebris().

◆ copy()

WearableTriangulatedWall * WearableTriangulatedWall::copy ( ) const

overridevirtual

Wall copy method. It calls the copy constructor of this Wall, useful for polymorphism.

Returns: pointer to a WearableTriangulatedWall object allocated using new.

Reimplemented from TriangulatedWall.

 {
     return new WearableTriangulatedWall(*this);
 }

References WearableTriangulatedWall().

Referenced by operator=().

◆ getName()

std::string WearableTriangulatedWall::getName ( ) const

overridevirtual

Returns the name of the object, here the string "WearableTriangulatedWall".

Returns: The string "WearableTriangulatedWall".

Reimplemented from TriangulatedWall.

 {
     return "WearableTriangulatedWall";
 }

◆ operator=()

WearableTriangulatedWall & WearableTriangulatedWall::operator= ( const WearableTriangulatedWall & other )

Copy assignment operator.

Parameters

[in] other The WearableTriangulatedWall that must be copied.

 {
     logger(DEBUG, "WearableTriangulatedWall::operator= called.");
     if (this == &other)
     {
         return *this;
     }
     return *(other.copy());
 }

References copy(), DEBUG, and logger.

◆ processDebris()

void WearableTriangulatedWall::processDebris ( )

private

 {
     for (unsigned i = 0; i < face_.size(); i++)
     {
         *face_[i].vertex[0] += debris_[i][0];
         *face_[i].vertex[1] += debris_[i][1];
         *face_[i].vertex[2] += debris_[i][2];
     }
     
     //set normals and positions
     for (auto& face: face_)
     {
         face.normal = Vec3D::getUnitVector(
                 Vec3D::cross(*face.vertex[1] - *face.vertex[0], *face.vertex[2] - *face.vertex[0]));
     }
     
     //set edge normals (inwards facing)
     for (auto& face: face_)
     {
         face.edgeNormal[0] = Vec3D::getUnitVector(Vec3D::cross(face.normal, *face.vertex[1] - *face.vertex[0]));
         face.edgeNormal[1] = Vec3D::getUnitVector(Vec3D::cross(face.normal, *face.vertex[2] - *face.vertex[1]));
         face.edgeNormal[2] = Vec3D::getUnitVector(Vec3D::cross(face.normal, *face.vertex[0] - *face.vertex[2]));
     }
 }

References Vec3D::cross(), debris_, TriangulatedWall::face_, Vec3D::getUnitVector(), and constants::i.

Referenced by computeWear().

◆ read()

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

overridevirtual

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

Parameters

[in] is The input stream from which the WearableTriangulatedWall is read, usually a restart file.

Reimplemented from TriangulatedWall.

 {
     TriangulatedWall::read(is);
 }

References TriangulatedWall::read().

◆ storeDebris()

void WearableTriangulatedWall::storeDebris	(	Vec3D	P,
		const Vec3D &	debris
	)

private

 {
     // Not sure if needed for triangulated wall?
 //    // Rotate global point back to local coordinate system.
 //    P -= getPosition();
 //    getOrientation().rotateBack(P);
     
     unsigned it = 0;
     for (auto& f : face_)
     {
         const Vec3D a = *f.vertex[0] - P;
         const Vec3D b = *f.vertex[1] - P;
         const Vec3D c = *f.vertex[2] - P;
         
         const Vec3D u = Vec3D::cross(b, c);
         const Vec3D v = Vec3D::cross(c, a);
         const Vec3D w = Vec3D::cross(a, b);
  
         // When all are pointing in same direction, the point is inside (or on edge of) the triangle.
         if (!(Vec3D::dot(u, v) < 0.0 || Vec3D::dot(u, w) < 0.0))
         {
             break;
         }
         
         it++;
     }
     
     // temporary because this should not happen
     if (it >= face_.size())
     {
 //        logger(INFO, "does this happen?");
         return;
     }
     
     // For now every vertex simply gets 1/3 of debris
     debris_[it][0] += debris / 3.0;
     debris_[it][1] += debris / 3.0;
     debris_[it][2] += debris / 3.0;
 }

References Vec3D::cross(), debris_, Vec3D::dot(), TriangulatedWall::face_, and Global_Physical_Variables::P.

Referenced by computeWear().

◆ write()

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

overridevirtual

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

Parameters

[in] os The output stream where the WearableTriangulatedWall must be written to, usually a restart file.

Reimplemented from TriangulatedWall.

 {
     TriangulatedWall::write(os);
 }

References TriangulatedWall::write().

Member Data Documentation

◆ debris_

std::vector<std::vector<Vec3D> > WearableTriangulatedWall::debris_

private

Referenced by computeWear(), processDebris(), storeDebris(), and WearableTriangulatedWall().

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ WearableTriangulatedWall() [1/3]

◆ WearableTriangulatedWall() [2/3]

◆ WearableTriangulatedWall() [3/3]

◆ ~WearableTriangulatedWall()

Member Function Documentation

◆ computeWear()

◆ copy()

◆ getName()

◆ operator=()

◆ processDebris()

◆ read()

◆ storeDebris()

◆ write()

Member Data Documentation

◆ debris_