dem_integration_scheme.h

Go to the documentation of this file.

//
// Author: Miguel AngelCeligueta, maceli@cimne.upc.edu
//
 
#if !defined KRATOS_DEM_INTEGRATION_SCHEME_H_INCLUDED
#define KRATOS_DEM_INTEGRATION_SCHEME_H_INCLUDED
 
// Project includes
#include "includes/define.h"
#include "utilities/openmp_utils.h"
#include "includes/model_part.h"
#include "utilities/quaternion.h"
 
// System includes
#include <float.h>
#include <string>
#include <iostream>
 
namespace Kratos {
 
    class Cluster3D;
    class RigidBodyElement3D;
 
    class KRATOS_API(DEM_APPLICATION) DEMIntegrationScheme {
    public:
 
        typedef ModelPart::NodesContainerType NodesArrayType;
        KRATOS_CLASS_POINTER_DEFINITION(DEMIntegrationScheme);
 
        DEMIntegrationScheme();
 
        virtual ~DEMIntegrationScheme();
 
        virtual DEMIntegrationScheme* CloneRaw() const {
            DEMIntegrationScheme* cloned_scheme(new DEMIntegrationScheme(*this));
            return cloned_scheme;
        }
 
        virtual DEMIntegrationScheme::Pointer CloneShared() const {
            DEMIntegrationScheme::Pointer cloned_scheme(new DEMIntegrationScheme(*this));
            return cloned_scheme;
        }
 
        virtual void SetTranslationalIntegrationSchemeInProperties(Properties::Pointer pProp, bool verbose = true) const;
        virtual void SetRotationalIntegrationSchemeInProperties(Properties::Pointer pProp, bool verbose = true) const;
 
        virtual void Move(Node & i, const double delta_t, const double force_reduction_factor, const int StepFlag);
        virtual void Rotate(Node & i, const double delta_t, const double force_reduction_factor, const int StepFlag);
        virtual void MoveRigidBodyElement(RigidBodyElement3D* rigid_body_element, Node & i, const double delta_t, const double force_reduction_factor, const int StepFlag);
        virtual void RotateRigidBodyElement(RigidBodyElement3D* rigid_body_element, Node & i, const double delta_t, const double force_reduction_factor, const int StepFlag);
 
        virtual 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]);
 
        virtual void CalculateTranslationalMotionOfNode(Node & i, const double delta_t, const double force_reduction_factor, const int StepFlag);
        virtual void CalculateRotationalMotionOfSphereNode(Node & i, const double delta_t, const double force_reduction_factor, const int StepFlag);
        virtual void CalculateRotationalMotionOfRigidBodyElementNode(Node & i, const double delta_t, const double moment_reduction_factor, const int StepFlag);
 
        virtual 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]);
 
        virtual 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]);
 
        virtual void UpdateRotationalVariables(
                int StepFlag,
                Node& i,
                array_1d<double, 3 >& rotated_angle,
                array_1d<double, 3 >& delta_rotation,
                array_1d<double, 3 >& angular_velocity,
                array_1d<double, 3 >& angular_acceleration,
                const double delta_t,
                const bool Fix_Ang_vel[3]);
 
        virtual void UpdateRotationalVariables(
                int StepFlag,
                Node& i,
                const double& moment_of_inertia,
                array_1d<double, 3 >& rotated_angle,
                array_1d<double, 3 >& delta_rotation,
                Quaternion<double  >& Orientation,
                const array_1d<double, 3 >& angular_momentum,
                array_1d<double, 3 >& angular_velocity,
                const double delta_t,
                const bool Fix_Ang_vel[3]);
 
        virtual void UpdateRotationalVariables(
                int StepFlag,
                Node& i,
                const array_1d<double, 3 >& moments_of_inertia,
                array_1d<double, 3 >& rotated_angle,
                array_1d<double, 3 >& delta_rotation,
                Quaternion<double  >& Orientation,
                const array_1d<double, 3 >& angular_momentum,
                array_1d<double, 3 >& angular_velocity,
                const double delta_t,
                const bool Fix_Ang_vel[3]);
 
        virtual 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);
 
        virtual void UpdateAngularVelocity(
                const Quaternion<double>& Orientation,
                const double LocalTensorInv[3][3],
                const array_1d<double, 3>& angular_momentum,
                array_1d<double, 3>& angular_velocity);
 
        virtual void CalculateLocalAngularAcceleration(
                const double moment_of_inertia,
                const array_1d<double, 3 >& torque,
                const double moment_reduction_factor,
                array_1d<double, 3 >& angular_acceleration);
 
        virtual 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);
 
        virtual void CalculateAngularVelocityRK(
                const Quaternion<double  >& Orientation,
                const double& moment_of_inertia,
                const array_1d<double, 3 >& angular_momentum,
                array_1d<double, 3 >& angular_velocity,
                const double delta_t,
                const bool Fix_Ang_vel[3]);
 
        virtual void CalculateAngularVelocityRK(
                const Quaternion<double  >& Orientation,
                const array_1d<double, 3 >& moments_of_inertia,
                const array_1d<double, 3 >& angular_momentum,
                array_1d<double, 3 > & angular_velocity,
                const double delta_t,
                const bool Fix_Ang_vel[3]);
 
        virtual void QuaternionCalculateMidAngularVelocities(
                const Quaternion<double>& Orientation,
                const double LocalTensorInv[3][3],
                const array_1d<double, 3>& angular_momentum,
                const double dt,
                const array_1d<double, 3>& InitialAngularVel,
                array_1d<double, 3>& FinalAngularVel);
 
        virtual std::string Info() const {
            std::stringstream buffer;
            buffer << "DEMIntegrationScheme";
            return buffer.str();
        }
 
 
        virtual void PrintInfo(std::ostream & rOStream) const {
            rOStream << "DEMIntegrationScheme";
        }
 
 
        virtual void PrintData(std::ostream & rOStream) const {
        }
 
        protected:
 
        private:
 
        //bool mRotationOption;
 
        DEMIntegrationScheme& operator=(DEMIntegrationScheme const& rOther) {
            return *this;
        }
 
 
        DEMIntegrationScheme(DEMIntegrationScheme const& rOther) {
            *this = rOther;
        }
 
        friend class Serializer;
 
        virtual void save(Serializer& rSerializer) const {
                    //rSerializer.save("MyMemberName",myMember);
        }
 
        virtual void load(Serializer& rSerializer) {
                    //rSerializer.load("MyMemberName",myMember);
        }
 
    }; // Class DEMIntegrationScheme
 
 
    inline std::istream& operator>>(std::istream& rIStream, DEMIntegrationScheme& rThis) {
        return rIStream;
    }
 
    inline std::ostream& operator<<(std::ostream& rOStream, const DEMIntegrationScheme& rThis) {
        rThis.PrintInfo(rOStream);
        rOStream << std::endl;
        rThis.PrintData(rOStream);
        return rOStream;
    }
 
} // namespace Kratos
 
#endif // KRATOS_DEM_INTEGRATION_SCHEME_H_INCLUDED defined