Inheritance diagram for ContContact3DCL:

Collaboration diagram for ContContact3DCL:

Public Types
enum	Type { CC_FLORES_ET_AL = ContContactCL::CC_FLORES_ET_AL, CC_HUNT_CROSSLEY = ContContactCL::CC_HUNT_CROSSLEY, CC_LANKARANI_NIKRAVESH = ContContactCL::CC_LANKARANI_NIKRAVESH }

Public Types inherited from ConstitutiveLaw< Vec3, Mat3x3 >
typedef ConstitutiveLaw< Vec3, Mat3x3 >::ErrNotAvailable	Err

Public Types inherited from SimulationEntity
typedef std::vector< Hint * >	Hints

Public Member Functions
	ContContact3DCL (const TplDriveCaller< Vec3 > *pTplDC, doublereal dSign, ContContact3DCL::Type type, doublereal dRest, doublereal dK, doublereal dExp, doublereal dInitialEpsPrimeTol)

virtual	~ContContact3DCL (void)

virtual ConstLawType::Type	GetConstLawType (void) const

virtual ConstitutiveLaw< Vec3, Mat3x3 > *	pCopy (void) const

virtual std::ostream &	Restart (std::ostream &out) const

virtual void	Update (const Vec3 &Eps, const Vec3 &EpsPrime)

virtual std::ostream &	OutputAppend (std::ostream &out) const

virtual void	AfterConvergence (const Vec3 &Eps, const Vec3 &EpsPrime=Zero3)

Public Member Functions inherited from ElasticConstitutiveLaw< Vec3, Mat3x3 >
	ElasticConstitutiveLaw (const TplDriveCaller< Vec3 > *pDC, const Vec3 &PStress)

virtual	~ElasticConstitutiveLaw (void)

ConstLawType::Type	GetConstLawType (void) const

void	SetValue (DataManager pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints ph=0)

virtual Hint *	ParseHint (DataManager pDM, const char s) const

Public Member Functions inherited from ConstitutiveLaw< Vec3, Mat3x3 >
	ConstitutiveLaw (void)

virtual	~ConstitutiveLaw (void)

virtual const Vec3 &	GetEpsilon (void) const

virtual const Vec3 &	GetEpsilonPrime (void) const

virtual const Vec3 &	GetF (void) const

virtual const Mat3x3 &	GetFDE (void) const

virtual const Mat3x3 &	GetFDEPrime (void) const

virtual unsigned int	iGetNumDof (void) const

virtual std::ostream &	DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual std::ostream &	DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual DofOrder::Order	GetDofType (unsigned int i) const

Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

virtual DofOrder::Order	GetEqType (unsigned int i) const

virtual void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const

virtual void	AfterPredict (VectorHandler &X, VectorHandler &XP)

virtual void	Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

virtual void	ReadInitialState (MBDynParser &HP)

Public Member Functions inherited from TplDriveOwner< Vec3 >
	TplDriveOwner (const TplDriveCaller< Vec3 > *pDC=0)

virtual	~TplDriveOwner (void)

void	Set (const TplDriveCaller< Vec3 > *pDC)

TplDriveCaller< Vec3 > *	pGetDriveCaller (void) const

Vec3	Get (const doublereal &dVar) const

Vec3	Get (void) const

virtual bool	bIsDifferentiable (void) const

virtual Vec3	GetP (void) const

Protected Attributes
const doublereal	m_dSign

const doublereal	m_dInitialEpsPrimeTol

const doublereal	m_dRest

ContContact3DCL::Type	m_type

const doublereal	m_dK

const doublereal	m_dExp

bool	m_bActive

bool	m_bToggling

doublereal	m_dInitialEpsPrime

doublereal	m_dDissCoef

Protected Attributes inherited from ElasticConstitutiveLaw< Vec3, Mat3x3 >
Vec3	PreStress

Protected Attributes inherited from ConstitutiveLaw< Vec3, Mat3x3 >
Vec3	Epsilon

Vec3	EpsilonPrime

Vec3	F

Mat3x3	FDE

Mat3x3	FDEPrime

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from TplDriveOwner< Vec3 >
TplDriveCaller< Vec3 > *	pTplDriveCaller

Additional Inherited Members
Protected Member Functions inherited from ElasticConstitutiveLaw< Vec3, Mat3x3 >
virtual std::ostream &	Restart_int (std::ostream &out) const

Detailed Description

Definition at line 359 of file module-cont-contact.cc.

Member Enumeration Documentation

enum ContContact3DCL::Type

Enumerator
CC_FLORES_ET_AL
CC_HUNT_CROSSLEY
CC_LANKARANI_NIKRAVESH

Definition at line 362 of file module-cont-contact.cc.

                   {
                 CC_FLORES_ET_AL = ContContactCL::CC_FLORES_ET_AL,
                 CC_HUNT_CROSSLEY = ContContactCL::CC_HUNT_CROSSLEY,
                 CC_LANKARANI_NIKRAVESH = ContContactCL::CC_LANKARANI_NIKRAVESH
         };

Constructor & Destructor Documentation

ContContact3DCL::ContContact3DCL	(	const TplDriveCaller< Vec3 > *	pTplDC,
		doublereal	dSign,
		ContContact3DCL::Type	type,
		doublereal	dRest,
		doublereal	dK,
		doublereal	dExp,
		doublereal	dInitialEpsPrimeTol
	)

inline

Definition at line 388 of file module-cont-contact.cc.

References NO_OP.

Referenced by pCopy().

         : ElasticConstitutiveLaw<Vec3, Mat3x3>(pTplDC, Zero3),
         m_dSign(dSign), m_dInitialEpsPrimeTol(dInitialEpsPrimeTol),
         m_dRest(dRest), m_type(type), m_dK(dK), m_dExp(dExp),
         m_bActive(false), m_bToggling(false), m_dInitialEpsPrime(0.)
         {
                 NO_OP;
         };

virtual ContContact3DCL::~ContContact3DCL ( void )

inlinevirtual

Definition at line 399 of file module-cont-contact.cc.

References NO_OP.

                                        {
                 NO_OP;
         };

Member Function Documentation

virtual void ContContact3DCL::AfterConvergence	(	const Vec3 &	Eps,
		const Vec3 &	EpsPrime = `Zero3`
	)

inlinevirtual

Reimplemented from ConstitutiveLaw< Vec3, Mat3x3 >.

Definition at line 509 of file module-cont-contact.cc.

References ConstitutiveLaw< T, Tder >::Epsilon, ConstitutiveLaw< T, Tder >::F, m_bActive, m_bToggling, m_dInitialEpsPrime, and m_dSign.

                                                                                      {
                 
 #if 0
                 if (m_bActive) {
                         doublereal eps2show = m_dSign*ConstitutiveLaw<Vec3, Mat3x3>::Epsilon(3) ;
                         doublereal F2show = m_dSign*ConstitutiveLaw<Vec3, Mat3x3>::F(3);
                         silent_cout( "  "        << eps2show  << "      "       << F2show << std::endl);
                 }       
 #endif          
 
                 if (m_bToggling) {
                 
 #if 0
                         silent_cout(">> ContContact3DCL::AfterConvergence() "
                                 "m_bToggling=" << (m_bToggling ? "true" : "false") << " "
                                 "m_bActive=" << (m_bActive ? "true" : "false") << " "
                                 "m_dInitialEpsPrime=" << m_dInitialEpsPrime << std::endl);
 #endif
 
                         if (m_bActive) {
                                 m_bActive = false;
                                 m_dInitialEpsPrime = 0.;
 
                         } else {
                                 m_bActive = true;
                         }
                         m_bToggling = false;
                         
 #if 0
                         silent_cout("<< ContContact3DCL::AfterConvergence() "
                                 "m_bToggling=" << (m_bToggling ? "true" : "false") << " "
                                 "m_bActive=" << (m_bActive ? "true" : "false") << " "
                                 "m_dInitialEpsPrime=" << m_dInitialEpsPrime << std::endl);
 #endif
                 }
         };

virtual ConstLawType::Type ContContact3DCL::GetConstLawType ( void ) const

inlinevirtual

Implements ConstitutiveLaw< Vec3, Mat3x3 >.

Definition at line 403 of file module-cont-contact.cc.

References ConstLawType::VISCOELASTIC.

                                                              {
                 return ConstLawType::VISCOELASTIC;
         };

virtual std::ostream& ContContact3DCL::OutputAppend ( std::ostream & out ) const

inlinevirtual

Reimplemented from SimulationEntity.

Definition at line 505 of file module-cont-contact.cc.

References m_dDissCoef, and m_dInitialEpsPrime.

                                                                 {
                 return out << " " << m_dInitialEpsPrime << " " << m_dDissCoef;
         };

virtual ConstitutiveLaw<Vec3, Mat3x3>* ContContact3DCL::pCopy ( void ) const

inlinevirtual

Implements ConstitutiveLaw< Vec3, Mat3x3 >.

Definition at line 407 of file module-cont-contact.cc.

References ContContact3DCL(), m_dExp, m_dInitialEpsPrimeTol, m_dK, m_dRest, m_dSign, m_type, TplDriveOwner< Vec3 >::pGetDriveCaller(), and SAFENEWWITHCONSTRUCTOR.

                                                                  {
                 ConstitutiveLaw<Vec3, Mat3x3>* pCL = 0;
 
                 // pass parameters to copy constructor
                 SAFENEWWITHCONSTRUCTOR(pCL, ContContact3DCL,
                         ContContact3DCL(pGetDriveCaller()->pCopy(),
                                 m_dSign, m_type, m_dRest, m_dK, m_dExp, m_dInitialEpsPrimeTol));
 
                 return pCL;
         };

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virtual std::ostream& ContContact3DCL::Restart ( std::ostream & out ) const

inlinevirtual

Reimplemented from ConstitutiveLaw< Vec3, Mat3x3 >.

Definition at line 418 of file module-cont-contact.cc.

References CC_FLORES_ET_AL, CC_HUNT_CROSSLEY, CC_LANKARANI_NIKRAVESH, m_dExp, m_dInitialEpsPrimeTol, m_dK, m_dRest, m_dSign, m_type, and ElasticConstitutiveLaw< T, Tder >::Restart_int().

                                                            {
                 out << "continuous contact"
                         << ", sign, " << m_dSign
                         << ", formulation, ";
 
                 switch (m_type) {
                 case CC_FLORES_ET_AL:
                         out << "flores";
                         break;
 
                 case CC_HUNT_CROSSLEY:
                         out << "hunt crossley";
                         break;
 
                 case CC_LANKARANI_NIKRAVESH:
                         out << "lankarani nikravesh";
                         break;
                 }
 
                 out
                         << ", restitution, " << m_dRest
                         << ", kappa, " << m_dK
                         << ", exp, " << m_dExp
                         << ", EpsPrimeTol, " << m_dInitialEpsPrimeTol
                         << ", ", ElasticConstitutiveLaw<Vec3, Mat3x3>::Restart_int(out);
                 return out;
         };

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virtual void ContContact3DCL::Update	(	const Vec3 &	Eps,
		const Vec3 &	EpsPrime
	)

inlinevirtual

Implements ConstitutiveLaw< Vec3, Mat3x3 >.

Definition at line 446 of file module-cont-contact.cc.

References CC_FLORES_ET_AL, CC_HUNT_CROSSLEY, CC_LANKARANI_NIKRAVESH, ConstitutiveLaw< T, Tder >::Epsilon, ConstitutiveLaw< T, Tder >::EpsilonPrime, ConstitutiveLaw< T, Tder >::F, ConstitutiveLaw< T, Tder >::FDE, ConstitutiveLaw< T, Tder >::FDEPrime, TplDriveOwner< T >::Get(), m_bActive, m_bToggling, m_dDissCoef, m_dExp, m_dInitialEpsPrime, m_dInitialEpsPrimeTol, m_dK, m_dRest, m_dSign, m_type, grad::pow(), Zero3, and Zero3x3.

                                                                    {
                 ConstitutiveLaw<Vec3, Mat3x3>::Epsilon = Eps - ElasticConstitutiveLaw<Vec3, Mat3x3>::Get();
                 ConstitutiveLaw<Vec3, Mat3x3>::EpsilonPrime = EpsPrime;
 
                 doublereal x = m_dSign*ConstitutiveLaw<Vec3, Mat3x3>::Epsilon(3);
                 if (x < 0.) {
                         if (m_bActive) {
                                 if (!m_bToggling) {
                                         m_bToggling = true;
                                 }
                         }
 
                         ConstitutiveLaw<Vec3, Mat3x3>::F = Zero3;
                         ConstitutiveLaw<Vec3, Mat3x3>::FDE = Zero3x3;
                         ConstitutiveLaw<Vec3, Mat3x3>::FDEPrime = Zero3x3;
 
                 } else {
                         doublereal xp = m_dSign*ConstitutiveLaw<Vec3, Mat3x3>::EpsilonPrime(3);
 
                         if (!m_bActive && !m_bToggling) {
                                 m_bToggling = true;
                                 m_dInitialEpsPrime = std::max(xp, m_dInitialEpsPrimeTol);
                                         
                                 switch (m_type) {
                                 case CC_FLORES_ET_AL:
                                         m_dDissCoef = (std::abs(xp) > m_dInitialEpsPrimeTol) * 8./5. * m_dK * (1. - m_dRest) / m_dRest / m_dInitialEpsPrime;
                                         break;
 
                                 case CC_HUNT_CROSSLEY:
                                         m_dDissCoef = (std::abs(xp) > m_dInitialEpsPrimeTol) * 3./2. * m_dK * (1. - m_dRest) / m_dInitialEpsPrime;
                                         break;
 
                                 case CC_LANKARANI_NIKRAVESH:
                                         m_dDissCoef = (std::abs(xp) > m_dInitialEpsPrimeTol) * 3./4. * m_dK * (1. - std::pow(m_dRest, 2)) / m_dInitialEpsPrime;
                                         break;
                                 }
                         }
 
 //                      doublereal xn   = std::pow(x, m_dExp);
 //                      doublereal xnm1 = std::pow(x, m_dExp - 1.);     
 
 //                      doublereal xp_t = ( ( (m_dDissCoef*xp < 0.)&&(abs(m_dDissCoef*xp) > m_dK)) ? abs(m_dK/m_dDissCoef/xp) : 1. );   // Threshold
 
 //                      ConstitutiveLaw<doublereal, doublereal>::F = m_dSign*(m_dK*xn + m_dDissCoef *xn* xp * xp_t);    // FIXME
 //                      ConstitutiveLaw<doublereal, doublereal>::FDE = m_dSign*(m_dExp*m_dK*xnm1 + m_dDissCoef *m_dExp*xnm1* xp_t);     //FIXME
 //                      ConstitutiveLaw<doublereal, doublereal>::FDEPrime = m_dSign*(m_dDissCoef * xn) * xp_t ;
                         
                         doublereal xn   = std::pow(x, m_dExp);
                         doublereal xnm1 = std::pow(x, m_dExp - 1.);                     
                 
 //----------------------FIXME CHECK CORRECTNESS
                         ConstitutiveLaw<Vec3, Mat3x3>::F(3) = m_dSign*xn*(m_dK + m_dDissCoef*xp);       // FIXME
                         ConstitutiveLaw<Vec3, Mat3x3>::FDE(3, 3) = m_dSign*xnm1*(m_dExp*m_dK + m_dDissCoef*m_dExp);     
                         ConstitutiveLaw<Vec3, Mat3x3>::FDEPrime(3, 3) = m_dSign*xn*m_dDissCoef;
                         
 
                 }
         };