quaternion_integration_scheme.h

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//
// Author: Joaquin Irazabal, jirazabal@cimne.upc.edu
//
 
#if !defined(KRATOS_QUATERNION_INTEGRATION_SCHEME_H_INCLUDED )
#define  KRATOS_QUATERNION_INTEGRATION_SCHEME_H_INCLUDED
 
// System includes
#include <string>
#include <iostream>
#include <cfloat>
 
// Project includes
#include "dem_integration_scheme.h"
#include "includes/define.h"
#include "utilities/openmp_utils.h"
#include "includes/model_part.h"
#include "custom_utilities/GeometryFunctions.h"
#include "utilities/quaternion.h"
 
namespace Kratos {
 
    class KRATOS_API(DEM_APPLICATION) QuaternionIntegrationScheme : public DEMIntegrationScheme {
    public:
 
        typedef ModelPart::NodesContainerType NodesArrayType;
 
        KRATOS_CLASS_POINTER_DEFINITION(QuaternionIntegrationScheme);
 
        QuaternionIntegrationScheme() {}
 
        virtual ~QuaternionIntegrationScheme() {}
 
        DEMIntegrationScheme* CloneRaw() const override {
            DEMIntegrationScheme* cloned_scheme(new QuaternionIntegrationScheme(*this));
            return cloned_scheme;
        }
 
        DEMIntegrationScheme::Pointer CloneShared() const override {
            DEMIntegrationScheme::Pointer cloned_scheme(new QuaternionIntegrationScheme(*this));
            return cloned_scheme;
        }
 
        void SetTranslationalIntegrationSchemeInProperties(Properties::Pointer pProp, bool verbose = true) const override;
        void SetRotationalIntegrationSchemeInProperties(Properties::Pointer pProp, bool verbose = true) const override;
 
        void UpdateTranslationalVariables(
                int StepFlag,
                Node& i,
                array_1d<double, 3 >& coor,
                array_1d<double, 3 >& displ,
                array_1d<double, 3 >& delta_displ,
                array_1d<double, 3 >& vel,
                const array_1d<double, 3 >& initial_coor,
                const array_1d<double, 3 >& force,
                const double force_reduction_factor,
                const double mass,
                const double delta_t,
                const bool Fix_vel[3]) override;
 
        void CalculateNewRotationalVariablesOfSpheres(
                int StepFlag,
                Node& i,
                const double moment_of_inertia,
                array_1d<double, 3 >& angular_velocity,
                array_1d<double, 3 >& torque,
                const double moment_reduction_factor,
                array_1d<double, 3 >& rotated_angle,
                array_1d<double, 3 >& delta_rotation,
                const double delta_t,
                const bool Fix_Ang_vel[3]) override;
 
        void CalculateNewRotationalVariablesOfRigidBodyElements(
                int StepFlag,
                Node& i,
                const array_1d<double, 3 > moments_of_inertia,
                array_1d<double, 3 >& angular_velocity,
                array_1d<double, 3 >& torque,
                const double moment_reduction_factor,
                array_1d<double, 3 >& rotated_angle,
                array_1d<double, 3 >& delta_rotation,
                Quaternion<double  >& Orientation,
                const double delta_t,
                const bool Fix_Ang_vel[3]) override;
 
        void UpdateRotatedAngle(
                array_1d<double, 3 >& rotated_angle,
                array_1d<double, 3 >& delta_rotation,
                const array_1d<double, 3 >& angular_velocity,
                const double delta_t) override;
 
        void CalculateLocalAngularAcceleration(
                const double moment_of_inertia,
                const array_1d<double, 3 >& torque,
                const double moment_reduction_factor,
                array_1d<double, 3 >& angular_acceleration) override;
 
        void CalculateLocalAngularAccelerationByEulerEquations(
                const array_1d<double, 3 >& local_angular_velocity,
                const array_1d<double, 3 >& moments_of_inertia,
                const array_1d<double, 3 >& local_torque,
                const double moment_reduction_factor,
                array_1d<double, 3 >& local_angular_acceleration) override;
 
 
        virtual std::string Info() const override{
            std::stringstream buffer;
            buffer << "QuaternionIntegrationScheme";
            return buffer.str();
        }
 
 
        virtual void PrintInfo(std::ostream& rOStream) const override{
            rOStream << "QuaternionIntegrationScheme";
        }
 
 
        virtual void PrintData(std::ostream& rOStream) const override{
        }
 
 
    protected:
 
 
    private:
 
 
        QuaternionIntegrationScheme& operator=(QuaternionIntegrationScheme const& rOther) {
            return *this;
        }
 
 
        QuaternionIntegrationScheme(QuaternionIntegrationScheme const& rOther) {
            *this = rOther;
        }
 
 
 
    }; // Class QuaternionIntegrationScheme
 
 
    inline std::istream& operator>>(std::istream& rIStream,
            QuaternionIntegrationScheme& rThis) {
        return rIStream;
    }
 
    inline std::ostream& operator<<(std::ostream& rOStream,
            const QuaternionIntegrationScheme& rThis) {
        rThis.PrintInfo(rOStream);
        rOStream << std::endl;
        rThis.PrintData(rOStream);
 
        return rOStream;
    }
 
} // namespace Kratos.
 
#endif // KRATOS_QUATERNION_INTEGRATION_SCHEME_H_INCLUDED  defined