void Gl1_Membrane::drawLocalDisplacement(const Vector2r& nodePt, const Vector2r& xy, const shared_ptr<ScalarRange>& range, bool split, char arrow, int lineWd, const Real z){
Vector3r nodePt3(nodePt[0],nodePt[1],0);
if(split){
Vector3r p1=Vector3r(nodePt[0]+xy[0],nodePt[1],0), c1=range->color(xy[0]), p2=Vector3r(nodePt[0],nodePt[1]+xy[1],0), c2=range->color(xy[1]);
if(arrow==0){
glLineWidth(lineWd);
GLUtils::GLDrawLine(nodePt3,p1,c1);
GLUtils::GLDrawLine(nodePt3,p2,c2);
} else {
// this messes OpenGL coords up!??
GLUtils::GLDrawArrow(nodePt3,p1,c1,/*doubled*/arrow>1);
GLUtils::GLDrawArrow(nodePt3,p2,c2,/*doubled*/arrow>1);
}
} else {
Vector3r p1=Vector3r(nodePt[0]+xy[0],nodePt[1]+xy[1],0), c1=range->color(xy.norm());
if(arrow==0){
glLineWidth(lineWd);
GLUtils::GLDrawLine(nodePt3,p1,c1);
} else {
// this messes OpenGL coords up!??
GLUtils::GLDrawArrow(nodePt3,p1,c1,/*doubled*/arrow>1);
}
}
if(!isnan(z)){
glLineWidth(lineWd);
GLUtils::GLDrawLine(nodePt3,Vector3r(nodePt[0],nodePt[1],z),range->color(z));
}
}
bool Law2_L6Geom_PelletPhys_Pellet::go(const shared_ptr<CGeom>& cg, const shared_ptr<CPhys>& cp, const shared_ptr<Contact>& C){
const L6Geom& g(cg->cast<L6Geom>()); PelletPhys& ph(cp->cast<PelletPhys>());
Real& Fn(ph.force[0]); Eigen::Map<Vector2r> Ft(&ph.force[1]);
if(C->isFresh(scene)) C->data=make_shared<PelletCData>();
Real& uNPl(C->data->cast<PelletCData>().uNPl);
Real& uN0(C->data->cast<PelletCData>().uN0);
assert(C->data && dynamic_pointer_cast<PelletCData>(C->data));
if(iniEqlb && C->isFresh(scene)) uN0=g.uN;
Real uN=g.uN-uN0; // normal displacement, taking iniEqlb in account
// break contact
if(uN>0) return false;
Real d0=g.lens.sum();
if(ph.normPlastCoeff<=0) uNPl=0.;
const Vector2r velT(g.vel[1],g.vel[2]);
ph.torque=Vector3r::Zero();
// normal force
Fn=ph.kn*(uN-uNPl); // trial force
if(ph.normPlastCoeff>0){ // normal plasticity activated
if(Fn>0){
if(ph.ka<=0) Fn=0;
else{ Fn=min(Fn,adhesionForce(uN,uNPl,ph.ka)); assert(Fn>0); }
} else {
Real Fy=yieldForce(uN,d0,ph.kn,ph.normPlastCoeff);
// normal plastic slip
if(Fn<Fy){
Real uNPl0=uNPl; // needed when tracking energy
uNPl=uN-Fy/ph.kn;
if(unlikely(scene->trackEnergy)){
// backwards trapezoid integration
Real Fy0=Fy+yieldForceDerivative(uN,d0,ph.kn,ph.normPlastCoeff)*(uNPl0-uNPl);
Real dissip=.5*abs(Fy0+Fy)*abs(uNPl-uNPl0);
scene->energy->add(dissip,plastSplit?"normPlast":"plast",plastSplit?normPlastIx:plastIx,EnergyTracker::IsIncrement | EnergyTracker::ZeroDontCreate);
tryAddDissipState(DISSIP_NORM_PLAST,dissip,C);
}
if(thinRate>0 && thinRelRMin<1.){
const Vector2r bendVel(g.angVel[1],g.angVel[2]);
Real dRad_0=thinRate*(uNPl0-uNPl)*(scene->dt*bendVel.norm());
for(const Particle* p:{C->leakPA(),C->leakPB()}){
if(!dynamic_cast<Sphere*>(p->shape.get())) continue;
Real dRad=dRad_0; // copy to be modified
auto& s=p->shape->cast<Sphere>();
//Real r0=(C->geom->cast<L6Geom>().lens[p.get()==C->pA.get()?0:1]);
Real r0=cbrt(3*s.nodes[0]->getData<DemData>().mass/(4*M_PI*p->material->density));
Real rMin=r0*thinRelRMin;
if(thinRefRad>0.) rMin*=pow(r0/thinRefRad,thinMinExp);
if(s.radius<=rMin) continue;
// 0..1 norm between rMin and r0
Real r01=(s.radius-rMin)/(r0-rMin);
if(thinExp>0) dRad*=pow(r01,thinExp);
if(thinRefRad>0.) dRad*=pow(r0/thinRefRad,thinRateExp);
boost::mutex::scoped_lock lock(s.nodes[0]->getData<DemData>().lock);
// cerr<<"#"<<p->id<<": radius "<<s.radius<<" -> "<<s.radius-dRad<<endl;
s.radius=max(rMin,s.radius-dRad*r01);
s.color=CompUtils::clamped(1-(s.radius-rMin)/(r0-rMin),0,1);
}
}
Fn=Fy;
}
// in the elastic regime, Fn is trial force already
}
}
/* add fake confinement */
if(confSigma!=0) Fn-=g.contA*confSigma*(confRefRad>0.?pow(g.contA/(M_PI*pow(confRefRad,2)),confExp):1.);
// shear force
Ft+=scene->dt*ph.kt*velT;
Real maxFt=abs(Fn)*ph.tanPhi; assert(maxFt>=0);
// shear plastic slip
if(Ft.squaredNorm()>pow(maxFt,2)){
Real FtNorm=Ft.norm();
Real ratio=maxFt/FtNorm;
if(unlikely(scene->trackEnergy)){
Real dissip=(.5*(FtNorm-maxFt)+maxFt)*(FtNorm-maxFt)/ph.kt;
scene->energy->add(dissip,"plast",plastIx,EnergyTracker::IsIncrement | EnergyTracker::ZeroDontCreate);
tryAddDissipState(DISSIP_SHEAR_PLAST,dissip,C);
}
Ft*=ratio;
}
assert(!isnan(Fn)); assert(!isnan(Ft[0]) && !isnan(Ft[1]));
// elastic potential energy
if(unlikely(scene->trackEnergy)) scene->energy->add(0.5*(pow(Fn,2)/ph.kn+Ft.squaredNorm()/ph.kt),"elast",elastPotIx,EnergyTracker::IsResettable);
return true;
}