bool move() //Сдвиг строки выполняемый в буффере
{
bool moved = false;
for (int i = 1; i < 4; i++)
{
if (temp[i] != 0)
{
if (temp[i - 1] == 0)
{
moved = true;
}
slip(i);
}
}
for (int i = 1; i < 4; i++)
{
if (temp[i] != 0 && temp[i] == temp[i - 1]) //Cуммирование стоящих рядом равных элементов
{
temp[i - 1] *= 2;
score += temp[i - 1];
temp[i] = 0;
for (int n = i; n < 3; n++)
{
slip(n + 1);
}
moved = true;
}
}
return moved;
}
void slip(int i) //Смещение элементов в пустые ячейки
{
if (temp[i - 1] == 0)
{
temp[i - 1] = temp[i];
temp[i] = 0;
if (i > 1) slip(i - 1);
}
}
Vector2
WheelContact::computeFrictionForce(real_type normForce, const Vector2& vel,
real_type omegaR, real_type friction,
PortValueList&) const
{
// We just get the wheel slip directly here
real_type wheelSlip = vel(0)+omegaR;
// The slip angle is the angle between the 'velocity vector' and
// the wheel forward direction.
real_type slipAngle = rad2deg*atan2(vel(1), fabs(vel(0)));
// slipAngle = saturate(slipAngle, 10*fabs(vel(1)));
slipAngle = smoothSaturate(slipAngle, 10*fabs(vel(1)));
// Vector2 slip(wheelSlip, slipAngle);
// if (1 < norm(slip))
// slip = normalize(slip);
Vector2 slip(smoothSaturate(wheelSlip, real_type(1)),
smoothSaturate(slipAngle, real_type(1)));
// The friction force for fast movement.
return (-friction*mFrictionCoeficient*normForce)*slip;
}
void MiniBeeV2::send(char type, char *p, int size) {
Serial.print(ESC_CHAR, BYTE);
Serial.print(type, BYTE);
for(i = 0;i < size;i++) slip(p[i]);
Serial.print(DEL_CHAR, BYTE);
}
int ContactMaterial3D::setTrialStrain (const Vector &strain_from_element)
{
#ifdef _G3DEBUG
opserr << "ContactMaterial3D::setTrialStrain (const Vector &strain_from_element)" << endln;
#endif
Vector t_s(2); // tangential contact force
double t_n; // normal contact force
double f_nplus1_trial; // trial slip condition
double gap; // current gap
Vector slip(2); // incremental slip
double t_s_norm; // norm of tangential contact force
strain_vec = strain_from_element;
gap = strain_vec(0);
slip(0) = strain_vec(1);
slip(1) = strain_vec(2);
t_n = strain_vec(3);
Vector zeroVec = slip;
zeroVec.Zero();
// update frictional status
this->UpdateFrictionalState();
// trial state (elastic predictor step) -> assume sticking
inSlip = false;
s_e_nplus1 = (t_n > -tensileStrength) ? s_e_n + slip : zeroVec; // ctv
t_s = stiffness * g * s_e_nplus1; // cov
// Norm(s_e_nplus1) = sqrt( s_e_nplus1' * g * s_e_nplus1 )
s_e_nplus1_norm = sqrt( s_e_nplus1(0) * g(0,0) * s_e_nplus1(0)
+ s_e_nplus1(1) * g(1,0) * s_e_nplus1(0) * 2.0
+ s_e_nplus1(1) * g(1,1) * s_e_nplus1(1) );
// Norm(t_s) = sqrt( t_s' * g * t_s )
//t_s_norm = sqrt( t_s(0) * G(0,0) * t_s(0)
// + t_s(1) * G(1,0) * t_s(0) * 2.0
// + t_s(1) * G(1,1) * t_s(1) );
//Norm(t_s) = k*Norm(s_e_nplus1) -- yields same result as above
t_s_norm = stiffness * s_e_nplus1_norm;
// slip condition
f_nplus1_trial = t_s_norm - frictionCoeff*t_n - cohesion;
// if (f_nplus1_trial > 0.0) {
// if ( (f_nplus1_trial > 0.0) && (t_n > -cohesion/frictionCoeff) && (slip.Norm() > 1e-12) ) {
if ( (f_nplus1_trial > 0.0) && (t_n > -tensileStrength) && (s_e_nplus1_norm > 1e-12) ) {
// plastic corrector step -> sliding
inSlip = true;
gamma = f_nplus1_trial / stiffness * 0.999999999999 ;
r_nplus1 = s_e_nplus1 / s_e_nplus1_norm; // ctv
// s_p_nplus1 = s_p_n + gamma * r_nplus1
// s_e_nplus1 = s_nplus1 - s_p_nplus1
// = (s_nplus1 - s_p_n) - gamma * r_nplus1
// = (s_n + slip - s_p_n) - gamma * r_nplus1
// = (s_e_n + slip) - gamma * r_nplus1
// = s_e_nplus1_trial - gamma * r_nplus1
double scale = (1.0 - gamma/s_e_nplus1_norm);
s_e_nplus1 = scale * s_e_nplus1; // ctv
t_s = scale * t_s; // cov
}
#ifdef _G3DEBUG
if (DEBUG_LEVEL > 1) {
if (inSlip) {
opserr << " ** SLIDING (material)" << endln;
} else {
opserr << " ** STICKING (material)" << endln;
}
}
#endif
//update stress and strain values
stress_vec(0) = t_n;
stress_vec(1) = t_s(0);
stress_vec(2) = t_s(1);
stress_vec(3) = gap;
return 0;
}
