#include <users_modules/multifield_plasticity/src/RigidBodies.hpp>

Inheritance diagram for RollerRigidBody:

Collaboration diagram for RollerRigidBody:

Public Member Functions
	RollerRigidBody (VectorDouble c_coords, VectorDouble roller_disp, int id)

MoFEMErrorCode	getRollerDataForTag ()

Tensor1< double, 3 >	getNormal (Tensor1< TPack3, 3 > &t_coords, Tensor1< TPack1, 3 > &t_disp)

Tensor1< double, 3 >	getNormal (Tensor1< TPack3, 3 > &t_coords, Tensor1< double, 3 > &t_disp)

Tensor1< double, 3 >	getNormal (Tensor1< double, 3 > &t_coords, Tensor1< double, 3 > &t_disp)

Tensor2< double, 3, 3 >	getDiffNormal (Tensor1< TPack3, 3 > &t_coords, Tensor1< TPack1, 3 > &t_disp, Tensor1< TPack1, 3 > &t_normal)

double	getGap (Tensor1< TPack3, 3 > &t_coords)

Tensor1< double, 3 >	getdGap (Tensor1< TPack3, 3 > &t_coords, Tensor1< TPack1, 3 > &t_normal)

MoFEMErrorCode	getBodyOptions ()

template<typename T1 , typename T2 >
Tensor1< double, 3 > &	getNormalImpl (Tensor1< T1, 3 > &t_coords, Tensor1< T2, 3 > &t_disp)

template<typename T1 , typename T2 , typename T3 >
Tensor2< double, 3, 3 >	getDiffNormalImpl (Tensor1< T1, 3 > &t_coords, Tensor1< T2, 3 > &t_disp, Tensor1< T3, 3 > &t_normal)

template<typename T1 >
double	getGapImpl (Tensor1< T1, 3 > &t_coords)

template<typename T1 , typename T2 >
Tensor1< double, 3 >	getdGapImpl (Tensor1< T1, 3 > &t_coords, Tensor1< T2, 3 > &t_normal)

Public Member Functions inherited from RigidBodyData
	RigidBodyData (VectorDouble c_coords, VectorDouble roller_disp, int id)

	RigidBodyData ()=delete

virtual	~RigidBodyData ()

virtual Tensor1< double, 3 >	getNormal (Tensor1< TPack3, 3 > &t_coords, Tensor1< TPack1, 3 > &t_disp)=0

virtual Tensor1< double, 3 >	getNormal (Tensor1< TPack3, 3 > &t_coords, Tensor1< double, 3 > &t_disp)=0

virtual Tensor1< double, 3 >	getNormal (Tensor1< double, 3 > &t_coords, Tensor1< double, 3 > &t_disp)=0

virtual Tensor2< double, 3, 3 >	getDiffNormal (Tensor1< TPack3, 3 > &t_coords, Tensor1< TPack1, 3 > &t_disp, Tensor1< TPack1, 3 > &t_normal)=0

virtual double	getGap (Tensor1< TPack3, 3 > &t_coords)=0

virtual Tensor1< double, 3 >	getdGap (Tensor1< TPack3, 3 > &t_coords, Tensor1< TPack1, 3 > &t_normal)=0

virtual MoFEMErrorCode	getBodyOptions ()=0

MoFEMErrorCode	computeRotationMatrix ()

Tensor1< double, 3 >	getBodyOffset ()

template<typename T1 , typename T2 >
Tensor1< double, 3 > &	getPointCoords (Tensor1< T1, 3 > &t_coords, Tensor1< T2, 3 > &t_disp)

MoFEMErrorCode	saveBasicDataOnTag (moab::Interface &moab_debug, EntityHandle &vertex)

virtual MoFEMErrorCode	getRollerDataForTag ()=0

Public Attributes
double	angleA

double	angleB

double	rAdius

double	fIllet

double	torusRadius

double	hEight

double	coneRadiusA

double	coneTopRadiusA

double	coneOffsetA

double	coneRadiusB

double	coneTopRadiusB

double	coneOffsetB

Public Attributes inherited from RigidBodyData
const int	iD

Index< 'i', 3 >	i

Index< 'j', 3 >	j

Index< 'k', 3 >	k

VectorDouble	originCoords

VectorDouble	rollerDisp

VectorDouble	BodyDispScaled

VectorDouble	BodyDirectionScaled

double	gAp

Tensor1< double, 3 >	tNormal

Tensor1< double, 3 >	dGap

Tensor1< double, 3 >	pointCoords

Tensor1< double, 3 >	closestPoint

Tensor1< double, 3 >	defaultOrientation

Tensor1< double, 3 >	oRientation

Tensor2< double, 3, 3 >	rotationMat

Tensor2< double, 3, 3 >	diffNormal

boost::shared_ptr< TimeAccelerogram >	methodOpForRollerPosition

boost::shared_ptr< TimeAccelerogram >	methodOpForRollerDirection

int	bodyType

array< double, 9 >	dataForTags

Additional Inherited Members
Public Types inherited from RigidBodyData
using	TPack3 = PackPtr< double *, 3 >

using	TPack1 = PackPtr< double *, 1 >

Detailed Description

Definition at line 741 of file RigidBodies.hpp.

Constructor & Destructor Documentation

◆ RollerRigidBody()

RollerRigidBody::RollerRigidBody	(	VectorDouble	c_coords,
		VectorDouble	roller_disp,
		int	id
	)

inline

Definition at line 758 of file RigidBodies.hpp.

759 : RigidBodyData(c_coords, roller_disp, id) {}

RigidBodyData::RigidBodyData

RigidBodyData()=delete

Member Function Documentation

◆ getBodyOptions()

MoFEMErrorCode RollerRigidBody::getBodyOptions ( )

inlinevirtual

Implements RigidBodyData.

Definition at line 801 of file RigidBodies.hpp.

                                  {
    MoFEMFunctionBegin;
    PetscBool rflg;
    int nb_dirs = 3;
 
    CHKERR PetscOptionsBegin(PETSC_COMM_WORLD, "", "", "");
    string param = "-radius" + to_string(iD);
    CHKERR PetscOptionsScalar(param.c_str(), "set roller radius", "", rAdius,
                              &rAdius, PETSC_NULL);
    param = "-fillet" + to_string(iD);
    CHKERR PetscOptionsScalar(param.c_str(), "set torus small radius", "",
                              fIllet, &fIllet, PETSC_NULL);
    param = "-angle_a" + to_string(iD);
    CHKERR PetscOptionsScalar(param.c_str(), "set roller angle of attack", "",
                              angleA, &angleA, PETSC_NULL);
    param = "-angle_b" + to_string(iD);
    CHKERR PetscOptionsScalar(param.c_str(), "set roller back angle", "",
                              angleB, &angleB, PETSC_NULL);
    hEight = 3 * fIllet;
    param = "-height" + to_string(iD);
    CHKERR PetscOptionsScalar(param.c_str(), "set roller height (optional)", "",
                              hEight, &hEight, PETSC_NULL);
    param = "-direction" + to_string(iD);
    CHKERR PetscOptionsGetRealArray(NULL, NULL, param.c_str(), &oRientation(0),
                                    &nb_dirs, &rflg);
    ierr = PetscOptionsEnd();
    CHKERRG(ierr);
    if (rflg)
      CHKERR computeRotationMatrix();
 
    // cP = make_shared<ArbitrarySurfaceData>(rAdius, fIllet);
 
    torusRadius = rAdius - fIllet;
    angleA = std::tan(angleA * M_PI / 180);
    angleB = std::tan(angleB * M_PI / 180);
 
    coneRadiusA = torusRadius + fIllet / sqrt(1 + angleA * angleA);
    coneTopRadiusA = coneRadiusA - hEight * angleA;
    coneOffsetA = -fIllet * angleA / sqrt(1 + angleA * angleA) - hEight / 2.;
 
    coneTopRadiusB = torusRadius + fIllet / sqrt(1 + angleB * angleB);
    coneRadiusB = coneTopRadiusB - hEight * angleB;
    coneOffsetB = fIllet * angleB / sqrt(1 + angleB * angleB) + hEight / 2.;
 
    MoFEMFunctionReturn(0);
  }

◆ getdGap()

Tensor1< double, 3 > RollerRigidBody::getdGap	(	Tensor1< TPack3, 3 > &	t_coords,
		Tensor1< TPack1, 3 > &	t_normal
	)

inlinevirtual

Implements RigidBodyData.

Definition at line 796 of file RigidBodies.hpp.

                                                           {
    return getdGapImpl(t_coords, t_normal);
  }

◆ getdGapImpl()

template<typename T1 , typename T2 >

Tensor1< double, 3 > RollerRigidBody::getdGapImpl	(	Tensor1< T1, 3 > &	t_coords,
		Tensor1< T2, 3 > &	t_normal
	)

inline

Definition at line 984 of file RigidBodies.hpp.

                                                                  {
    return dGap;
  };

◆ getDiffNormal()

Tensor2< double, 3, 3 > RollerRigidBody::getDiffNormal	(	Tensor1< TPack3, 3 > &	t_coords,
		Tensor1< TPack1, 3 > &	t_disp,
		Tensor1< TPack1, 3 > &	t_normal
	)

inlinevirtual

Implements RigidBodyData.

Definition at line 786 of file RigidBodies.hpp.

                                                                    {
    return getDiffNormalImpl(t_coords, t_disp, t_normal);
  }

◆ getDiffNormalImpl()

template<typename T1 , typename T2 , typename T3 >

Tensor2< double, 3, 3 > RollerRigidBody::getDiffNormalImpl	(	Tensor1< T1, 3 > &	t_coords,
		Tensor1< T2, 3 > &	t_disp,
		Tensor1< T3, 3 > &	t_normal
	)

inline

Definition at line 958 of file RigidBodies.hpp.

                                                                           {
    Tensor2<double, 3, 3> diff_normal;
    Tensor1<double, 3> norm_diff;
    const double clean_gap = gAp;
    const double eps = 1e-8;
    for (int ii = 0; ii != 3; ++ii) {
      Tensor1<double, 3> pert_disp{t_disp(0), t_disp(1), t_disp(2)};
      pert_disp(ii) += eps;
      auto pert_normal = getNormal(t_coords, pert_disp);
      norm_diff(i) = (pert_normal(i) - t_normal(i)) / eps;
      dGap(ii) = (gAp - clean_gap) / eps;
 
      for (int jj = 0; jj != 3; ++jj) {
        diff_normal(jj, ii) = norm_diff(jj);
      }
    }
    return diff_normal;
  };

◆ getGap()

double RollerRigidBody::getGap ( Tensor1< TPack3, 3 > & t_coords )

inlinevirtual

Implements RigidBodyData.

Definition at line 792 of file RigidBodies.hpp.

                                                     {
    return getGapImpl(t_coords);
  }

◆ getGapImpl()

template<typename T1 >

double RollerRigidBody::getGapImpl ( Tensor1< T1, 3 > & t_coords )

inline

Definition at line 979 of file RigidBodies.hpp.

                                                                            {
    return gAp;
  };

◆ getNormal() [1/3]

Tensor1< double, 3 > RollerRigidBody::getNormal	(	Tensor1< double, 3 > &	t_coords,
		Tensor1< double, 3 > &	t_disp
	)

inlinevirtual

Implements RigidBodyData.

Definition at line 781 of file RigidBodies.hpp.

                                                           {
    return getNormalImpl(t_coords, t_disp);
  }

◆ getNormal() [2/3]

Tensor1< double, 3 > RollerRigidBody::getNormal	(	Tensor1< TPack3, 3 > &	t_coords,
		Tensor1< double, 3 > &	t_disp
	)

inlinevirtual

Implements RigidBodyData.

Definition at line 777 of file RigidBodies.hpp.

                                                           {
    return getNormalImpl(t_coords, t_disp);
  }

◆ getNormal() [3/3]

Tensor1< double, 3 > RollerRigidBody::getNormal	(	Tensor1< TPack3, 3 > &	t_coords,
		Tensor1< TPack1, 3 > &	t_disp
	)

inlinevirtual

Implements RigidBodyData.

Definition at line 773 of file RigidBodies.hpp.

                                                           {
    return getNormalImpl(t_coords, t_disp);
  }

◆ getNormalImpl()

template<typename T1 , typename T2 >

Tensor1< double, 3 > & RollerRigidBody::getNormalImpl	(	Tensor1< T1, 3 > &	t_coords,
		Tensor1< T2, 3 > &	t_disp
	)

inline

Definition at line 849 of file RigidBodies.hpp.

                                                                   {
    auto t_d = getPointCoords(t_coords, t_disp);
    CHKERR computeRotationMatrix();
    pointCoords(i) = rotationMat(i, j) * t_d(j);
    t_d(i) = pointCoords(i);
 
    const double inv_eps = 1e6;
    array<double, 3> gaps;
    const double half_height = hEight / 2.;
 
    double cone_apex_offset_a = coneOffsetA + half_height;
    double cone_apex_offset_b = coneOffsetB - half_height;
 
    // https://computergraphics.stackexchange.com/questions/7485/glsl-shapes-signed-distance-field-implementation-explanation
    auto sd_infinite_cone = [&](Tensor1<double, 3> p, double slope) {
      double c1 = 1. / sqrt(1 + (slope * slope));
      double c2 = c1 * slope;
      auto prod = sqrt(p(0) * p(0) + p(1) * p(1));
      auto prod2 = sqrt(1 + slope * slope);
      tNormal(0) = p(0) / (prod2 * prod);
      tNormal(1) = p(1) / (prod2 * prod);
      tNormal(2) = slope / prod2;
      return c1 * prod + c2 * p(2);
    };
 
    const double full_h_a = -cone_apex_offset_a + coneRadiusA / angleA;
    const double full_h_b = cone_apex_offset_b + coneTopRadiusB / angleB;
 
    Tensor1<double, 3> t_apx_1(t_d(0), t_d(1), t_d(2) - full_h_a);
    Tensor1<double, 3> t_apx_2(t_d(0), t_d(1), t_d(2) + full_h_b);
 
    auto torus_dist = [&]() {
      const double prod = sqrt(pow(t_d(0), 2) + pow(t_d(1), 2));
      const double prod2 = sqrt(pow(-torusRadius + prod, 2) + pow(t_d(2), 2));
      tNormal(0) = (t_d(0) * (-torusRadius + prod)) / (prod * prod2);
      tNormal(1) = (t_d(1) * (-torusRadius + prod)) / (prod * prod2);
      tNormal(2) = t_d(2) / prod2;
      return -fIllet + prod2;
    };
 
    gaps[0] = torus_dist();
    gaps[1] = t_d(2) < -cone_apex_offset_a ? inv_eps
                                           : sd_infinite_cone(t_apx_1, angleA);
    gaps[2] = t_d(2) > -cone_apex_offset_b ? inv_eps
                                           : sd_infinite_cone(t_apx_2, -angleB);
 
    int nb = distance(gaps.begin(), std::min_element(gaps.begin(), gaps.end()));
    gAp = gaps[nb];
 
    switch (nb) {
    case 0: {
      torus_dist();
      break;
    }
    case 1: {
      // compute normal for cone A
      sd_infinite_cone(t_apx_1, angleA);
      break;
    }
    case 2: {
      // compute normal for cone b
      sd_infinite_cone(t_apx_2, -angleB);
    } break;
    }
 
    //    // for debugging
    // auto my_rand_mn = [](double M, double N) {
    //   return M + (rand() / (RAND_MAX / (N - M)));
    // };
    // auto t_off = getBodyOffset();
    // std::ofstream afile("cone_pts.csv", std::ios::ate);
    // if (afile.is_open()) {
    //   afile << "x,y,z\n";
    //   Tensor1<double, 3> p(0, 0, 0);
    //   for (int n = 0; n != 1e6; n++) {
    //     double x = my_rand_mn(-1.5, 1.5);
    //     double y = my_rand_mn(-1.5, 1.5);
    //     double z = my_rand_mn(-1, 1);
    //     Tensor1<double, 3> coords(x, y, z);
 
    //     t_d(i) = coords(i);
    //     t_dc1(i) = coords(i);
    //     t_dc2(i) = coords(i);
    //     t_dc1(2) -= full_h_a;
    //     t_dc2(2) += full_h_b;
 
    //     gaps[0] = torus_dist();
    //     gaps[1] = t_d(2) < -cone_apex_offset_a ? inv_eps :
    //     sd_infinite_cone(t_dc1, angleA); gaps[2] = t_d(2) >
    //     -cone_apex_offset_b ? inv_eps : sd_infinite_cone(t_dc2, -angleB);
 
    //     if (gaps[0] < 0 || gaps[1] < 0 || gaps[2] < 0) {
 
    //       afile << x + t_off(0) << "," << y + t_off(1) << "," << z + t_off(2)
    //             << "\n";
    //     }
    //   }
    //   afile.close();
    // }
 
    tNormal.normalize();
    auto normal_copy = tNormal;
    tNormal(i) = rotationMat(j, i) * normal_copy(j);
 
    return tNormal;
  };

◆ getRollerDataForTag()

MoFEMErrorCode RollerRigidBody::getRollerDataForTag ( )

inlinevirtual

Implements RigidBodyData.

Definition at line 761 of file RigidBodies.hpp.

                                       {
    MoFEMFunctionBeginHot;
    bodyType = ROLLER;
    dataForTags[0] = rAdius;
    dataForTags[1] = fIllet;
    dataForTags[2] = hEight;
    dataForTags[4] = angleA;
    dataForTags[5] = angleB;
 
    MoFEMFunctionReturnHot(0);
  }

Member Data Documentation

◆ angleA

double RollerRigidBody::angleA

Definition at line 743 of file RigidBodies.hpp.

◆ angleB

double RollerRigidBody::angleB

Definition at line 744 of file RigidBodies.hpp.

◆ coneOffsetA

double RollerRigidBody::coneOffsetA

Definition at line 752 of file RigidBodies.hpp.

◆ coneOffsetB

double RollerRigidBody::coneOffsetB

Definition at line 756 of file RigidBodies.hpp.

◆ coneRadiusA

double RollerRigidBody::coneRadiusA

Definition at line 750 of file RigidBodies.hpp.

◆ coneRadiusB

double RollerRigidBody::coneRadiusB

Definition at line 754 of file RigidBodies.hpp.

◆ coneTopRadiusA

double RollerRigidBody::coneTopRadiusA

Definition at line 751 of file RigidBodies.hpp.

◆ coneTopRadiusB

double RollerRigidBody::coneTopRadiusB

Definition at line 755 of file RigidBodies.hpp.

◆ fIllet

double RollerRigidBody::fIllet

Definition at line 746 of file RigidBodies.hpp.

◆ hEight

double RollerRigidBody::hEight

Definition at line 748 of file RigidBodies.hpp.

◆ rAdius

double RollerRigidBody::rAdius

Definition at line 745 of file RigidBodies.hpp.

◆ torusRadius

double RollerRigidBody::torusRadius

Definition at line 747 of file RigidBodies.hpp.

The documentation for this struct was generated from the following file:

users_modules/multifield_plasticity/src/RigidBodies.hpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RollerRigidBody()

Member Function Documentation

◆ getBodyOptions()

◆ getdGap()

◆ getdGapImpl()

◆ getDiffNormal()

◆ getDiffNormalImpl()

◆ getGap()

◆ getGapImpl()

◆ getNormal() [1/3]

◆ getNormal() [2/3]

◆ getNormal() [3/3]

◆ getNormalImpl()

◆ getRollerDataForTag()

Member Data Documentation

◆ angleA

◆ angleB

◆ coneOffsetA

◆ coneOffsetB

◆ coneRadiusA

◆ coneRadiusB

◆ coneTopRadiusA

◆ coneTopRadiusB

◆ fIllet

◆ hEight

◆ rAdius

◆ torusRadius