void btGImpactCollisionAlgorithm::shape_vs_shape_collision(
const btCollisionObjectWrapper * body0Wrap,
const btCollisionObjectWrapper* body1Wrap,
const btCollisionShape * shape0,
const btCollisionShape * shape1)
{
{
btCollisionObjectWrapper ob0(body0Wrap,shape0,body0Wrap->getCollisionObject(), body0Wrap->getWorldTransform());
btCollisionObjectWrapper ob1(body1Wrap,shape1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform());
btCollisionAlgorithm* algor = newAlgorithm(&ob0,&ob1);
// post : checkManifold is called
m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
algor->processCollision(&ob0,&ob1,*m_dispatchInfo,m_resultOut);
algor->~btCollisionAlgorithm();
m_dispatcher->freeCollisionAlgorithm(algor);
}
}
float collisionTester::collisionTest(btCollisionObject * objectA, btCollisionObject * objectB, btCollisionAlgorithm * algo){
float dist = 99999;
btCollisionObjectWrapper ob0(0,objectA->getCollisionShape(),objectA, objectA->getWorldTransform());
btCollisionObjectWrapper ob1(0,objectB->getCollisionShape(),objectB, objectB->getWorldTransform());
//
// btCollisionAlgorithm* algo = collisionWorld->getDispatcher()->findAlgorithm(&ob0, &ob1);
btManifoldResult contactPointResult(&ob0,&ob1);
algo->processCollision(&ob0,&ob1,collisionWorld->getDispatchInfo(),&contactPointResult);
btManifoldArray manifoldArray;
algo->getAllContactManifolds(manifoldArray);
int numManifolds = manifoldArray.size();
for(int i=0;i<numManifolds;i++)
{
btPersistentManifold* contactManifold = manifoldArray[i];
const btCollisionObject* obA = static_cast<const btCollisionObject*>(contactManifold->getBody0());
// btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
int numContacts = contactManifold->getNumContacts();
bool swap = obA == objectA;
//printf("numManifolds=%i, numContact = %i \n", numManifolds, numContacts);
for (int j=0;j<numContacts;j++)
{
btManifoldPoint& pt = contactManifold->getContactPoint(j);
// glDisable(GL_DEPTH_TEST);
// glBegin(GL_LINES);
// glColor3f(0, 0, 1);
btVector3 ptA = swap ?pt.getPositionWorldOnA():pt.getPositionWorldOnB();
btVector3 ptB = swap ? pt.getPositionWorldOnB():pt.getPositionWorldOnA();
// glVertex3d(ptA.x(),ptA.y(),ptA.z());
// glVertex3d(ptB.x(),ptB.y(),ptB.z());
//contactPts.push_back(ptA);
//contactPts.push_back(ptB);
// glEnd();
float distTmp = pt.getDistance();
if(distTmp<dist)
dist=distTmp;
}
//you can un-comment out this line, and then all points are removed
contactManifold->clearManifold();
}
return dist;
}
void main()
{
clrscr();
derived ob1(1);
derived *ob2;
ob2=new derived(2);
{
derived ob3(3);
}
delete(ob2);
getch();
}
/************************************************ Program 3 Continued.... **************************************************/
void prog3()
{
loc ob1(10, 20), ob2(5, 30), ob3(90, 90);
ob1.show();
ob2.show();
++ob1;
ob1.show(); // displays 11 21
ob2 = ++ob1;
ob1.show(); // displays 12 22
ob2.show(); // displays 12 22
ob1 = ob2 = ob3; // multiple assignment
ob1.show(); // displays 90 90
ob2.show(); // displays 90 90
}
void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper* body1Wrap,
const btCollisionShape* shape0,
const btCollisionShape* shape1)
{
m_resultOut->setShapeIdentifiersA(m_part0, m_triface0);
m_resultOut->setShapeIdentifiersB(m_part1, m_triface1);
btCollisionObjectWrapper ob0(body0Wrap, shape0, body0Wrap->getCollisionObject(), body0Wrap->getWorldTransform(), m_part0, m_triface0);
btCollisionObjectWrapper ob1(body1Wrap, shape1, body1Wrap->getCollisionObject(), body1Wrap->getWorldTransform(), m_part1, m_triface1);
checkConvexAlgorithm(&ob0, &ob1);
m_convex_algorithm->processCollision(&ob0, &ob1, *m_dispatchInfo, m_resultOut);
}
void btHfFluidBuoyantShapeCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
const btHfFluidBuoyantConvexShape* tmpShape0 = (const btHfFluidBuoyantConvexShape*)body0Wrap->getCollisionShape();
const btHfFluidBuoyantConvexShape* tmpShape1 = (const btHfFluidBuoyantConvexShape*)body1Wrap->getCollisionShape();
const btConvexShape* convexShape0 = tmpShape0->getConvexShape();
const btConvexShape* convexShape1 = tmpShape1->getConvexShape();
//body0->setCollisionShape (convexShape0);
//body1->setCollisionShape (convexShape1);
btCollisionObjectWrapper ob0(body0Wrap,convexShape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform());
btCollisionObjectWrapper ob1(body1Wrap,convexShape1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform());
m_convexConvexAlgorithm.processCollision (&ob0, &ob1, dispatchInfo,resultOut);
}
void prog2()
{
int abcd;
loc ob1(10, 20), ob2(5, 30);
ob1.show(); // displays 10 20
ob2.show(); // displays 5 30
//ob1 =
// abcd = ob1 + ;
//ob1 =
abcd = ob1.operator+();
ob1++;
++ob1;
ob1.show(); // displays 15 50
}
void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper* body1Wrap,
const btGImpactShapeInterface * shape0,
const btCompoundShape * shape1,bool swapped)
{
btTransform orgtrans1 = body1Wrap->getWorldTransform();
int i = shape1->getNumChildShapes();
while(i--)
{
const btCollisionShape * colshape1 = shape1->getChildShape(i);
btTransform childtrans1 = orgtrans1*shape1->getChildTransform(i);
btCollisionObjectWrapper ob1(body1Wrap,colshape1,body1Wrap->getCollisionObject(),childtrans1);
//collide child shape
gimpact_vs_shape(body0Wrap, &ob1,
shape0,colshape1,swapped);
}
}
void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper* body1Wrap,
const btGImpactShapeInterface* shape0,
const btCompoundShape* shape1, bool swapped)
{
btTransform orgtrans1 = body1Wrap->getWorldTransform();
int i = shape1->getNumChildShapes();
while (i--)
{
const btCollisionShape* colshape1 = shape1->getChildShape(i);
btTransform childtrans1 = orgtrans1 * shape1->getChildTransform(i);
btCollisionObjectWrapper ob1(body1Wrap, colshape1, body1Wrap->getCollisionObject(), childtrans1, -1, i);
const btCollisionObjectWrapper* tmp = 0;
if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob1.getCollisionObject())
{
tmp = m_resultOut->getBody0Wrap();
m_resultOut->setBody0Wrap(&ob1);
}
else
{
tmp = m_resultOut->getBody1Wrap();
m_resultOut->setBody1Wrap(&ob1);
}
//collide child shape
gimpact_vs_shape(body0Wrap, &ob1,
shape0, colshape1, swapped);
if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob1.getCollisionObject())
{
m_resultOut->setBody0Wrap(tmp);
}
else
{
m_resultOut->setBody1Wrap(tmp);
}
}
}
void main()
{
float no1,no2;
char op,choice;
do
{
clrscr();
cout<<"\n\n\t\tEnter the first number : ";
cin>>no1;
cout<<"\t\tEnter the second number : ";
cin>>no2;
cout<<"\t\tEnter the operator (+,-,*,/) : ";
cin>>op;
calculator ob1(no1,no2,op);
if(ob1.operation()==-9999)
cout<<"\n\n\t\tDivisor can't be zero.\n\t\tDivision can't be performed.";
else
cout<<"\n\n\t\tAnswer = "<<ob1.operation();
cout<<"\n\n\n\t\tWant to continue (y/n) : ";
cin>>choice;
}while(choice=='y'||choice=='Y');
getch();
}
void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper * body1Wrap,
const btGImpactShapeInterface * shape0,
const btGImpactShapeInterface * shape1)
{
if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
{
const btGImpactMeshShape * meshshape0 = static_cast<const btGImpactMeshShape *>(shape0);
m_part0 = meshshape0->getMeshPartCount();
while(m_part0--)
{
gimpact_vs_gimpact(body0Wrap, body1Wrap, meshshape0->getMeshPart(m_part0), shape1);
}
return;
}
if(shape1->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
{
const btGImpactMeshShape * meshshape1 = static_cast<const btGImpactMeshShape *>(shape1);
m_part1 = meshshape1->getMeshPartCount();
while(m_part1--)
{
gimpact_vs_gimpact(body0Wrap, body1Wrap, shape0, meshshape1->getMeshPart(m_part1));
}
return;
}
btTransform orgtrans0 = body0Wrap->getWorldTransform();
btTransform orgtrans1 = body1Wrap->getWorldTransform();
btPairSet pairset;
gimpact_vs_gimpact_find_pairs(orgtrans0, orgtrans1, shape0, shape1, pairset);
if(pairset.size()== 0) return;
if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART)
{
const btGImpactMeshShapePart * shapepart0 = static_cast<const btGImpactMeshShapePart * >(shape0);
const btGImpactMeshShapePart * shapepart1 = static_cast<const btGImpactMeshShapePart * >(shape1);
//specialized function
#ifdef BULLET_TRIANGLE_COLLISION
collide_gjk_triangles(body0Wrap, body1Wrap, shapepart0, shapepart1, &pairset[0].m_index1, pairset.size());
#else
collide_sat_triangles(body0Wrap, body1Wrap, shapepart0, shapepart1, &pairset[0].m_index1, pairset.size());
#endif
return;
}
//general function
shape0->lockChildShapes();
shape1->lockChildShapes();
GIM_ShapeRetriever retriever0(shape0);
GIM_ShapeRetriever retriever1(shape1);
bool child_has_transform0 = shape0->childrenHasTransform();
bool child_has_transform1 = shape1->childrenHasTransform();
int i = pairset.size();
while(i--)
{
GIM_PAIR * pair = &pairset[i];
m_triface0 = pair->m_index1;
m_triface1 = pair->m_index2;
const btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0);
const btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1);
btTransform tr0 = body0Wrap->getWorldTransform();
btTransform tr1 = body1Wrap->getWorldTransform();
if(child_has_transform0)
{
tr0 = orgtrans0*shape0->getChildTransform(m_triface0);
}
if(child_has_transform1)
{
tr1 = orgtrans1*shape1->getChildTransform(m_triface1);
}
btCollisionObjectWrapper ob0(body0Wrap, colshape0, body0Wrap->getCollisionObject(), tr0, m_part0, m_triface0);
btCollisionObjectWrapper ob1(body1Wrap, colshape1, body1Wrap->getCollisionObject(), tr1, m_part1, m_triface1);
//collide two convex shapes
convex_vs_convex_collision(&ob0, &ob1, colshape0, colshape1);
}
shape0->unlockChildShapes();
shape1->unlockChildShapes();
}
void SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher)
{
if (dispatchInfo.m_enableSPU)
{
m_maxNumOutstandingTasks = m_threadInterface->getNumTasks();
{
BT_PROFILE("processAllOverlappingPairs");
if (!m_spuCollisionTaskProcess)
m_spuCollisionTaskProcess = new SpuCollisionTaskProcess(m_threadInterface,m_maxNumOutstandingTasks);
m_spuCollisionTaskProcess->setNumTasks(m_maxNumOutstandingTasks);
// printf("m_maxNumOutstandingTasks =%d\n",m_maxNumOutstandingTasks);
m_spuCollisionTaskProcess->initialize2(dispatchInfo.m_useEpa);
///modified version of btCollisionDispatcher::dispatchAllCollisionPairs:
{
btSpuCollisionPairCallback collisionCallback(dispatchInfo,this);
pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher);
}
}
//send one big batch
int numTotalPairs = pairCache->getNumOverlappingPairs();
if (numTotalPairs)
{
btBroadphasePair* pairPtr = pairCache->getOverlappingPairArrayPtr();
int i;
{
int pairRange = SPU_BATCHSIZE_BROADPHASE_PAIRS;
if (numTotalPairs < (m_spuCollisionTaskProcess->getNumTasks()*SPU_BATCHSIZE_BROADPHASE_PAIRS))
{
pairRange = (numTotalPairs/m_spuCollisionTaskProcess->getNumTasks())+1;
}
BT_PROFILE("addWorkToTask");
for (i=0;i<numTotalPairs;)
{
//Performance Hint: tweak this number during benchmarking
int endIndex = (i+pairRange) < numTotalPairs ? i+pairRange : numTotalPairs;
m_spuCollisionTaskProcess->addWorkToTask(pairPtr,i,endIndex);
i = endIndex;
}
}
{
BT_PROFILE("PPU fallback");
//handle PPU fallback pairs
for (i=0;i<numTotalPairs;i++)
{
btBroadphasePair& collisionPair = pairPtr[i];
if (collisionPair.m_internalTmpValue == 3)
{
if (collisionPair.m_algorithm)
{
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
if (dispatcher->needsCollision(colObj0,colObj1))
{
//discrete collision detection query
btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform());
btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform());
btManifoldResult contactPointResult(&ob0,&ob1);
if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
{
collisionPair.m_algorithm->processCollision(&ob0,&ob1,dispatchInfo,&contactPointResult);
} else
{
//continuous collision detection query, time of impact (toi)
btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
}
}
}
}
}
}
}
{
BT_PROFILE("flush2");
//make sure all SPU work is done
m_spuCollisionTaskProcess->flush2();
}
} else
{
///PPU fallback
///!Need to make sure to clear all 'algorithms' when switching between SPU and PPU
btCollisionDispatcher::dispatchAllCollisionPairs(pairCache,dispatchInfo,dispatcher);
}
}
virtual bool processOverlap(btBroadphasePair& collisionPair)
{
//PPU version
//(*m_dispatcher->getNearCallback())(collisionPair,*m_dispatcher,m_dispatchInfo);
//only support discrete collision detection for now, we could fallback on PPU/unoptimized version for TOI/CCD
btAssert(m_dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE);
//by default, Bullet will use this near callback
{
///userInfo is used to determine if the SPU has to handle this case or not (skip PPU tasks)
if (!collisionPair.m_internalTmpValue)
{
collisionPair.m_internalTmpValue = 1;
}
if (!collisionPair.m_algorithm)
{
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
ci.m_manifold = 0;
if (m_dispatcher->needsCollision(colObj0,colObj1))
{
int proxyType0 = colObj0->getCollisionShape()->getShapeType();
int proxyType1 = colObj1->getCollisionShape()->getShapeType();
bool supportsSpuDispatch = m_dispatcher->supportsDispatchPairOnSpu(proxyType0,proxyType1)
&& ((colObj0->getCollisionFlags() & btCollisionObject::CF_DISABLE_SPU_COLLISION_PROCESSING) == 0)
&& ((colObj1->getCollisionFlags() & btCollisionObject::CF_DISABLE_SPU_COLLISION_PROCESSING) == 0);
if (proxyType0 == COMPOUND_SHAPE_PROXYTYPE)
{
btCompoundShape* compound = (btCompoundShape*)colObj0->getCollisionShape();
if (compound->getNumChildShapes()>MAX_SPU_COMPOUND_SUBSHAPES)
{
//printf("PPU fallback, compound->getNumChildShapes(%d)>%d\n",compound->getNumChildShapes(),MAX_SPU_COMPOUND_SUBSHAPES);
supportsSpuDispatch = false;
}
}
if (proxyType1 == COMPOUND_SHAPE_PROXYTYPE)
{
btCompoundShape* compound = (btCompoundShape*)colObj1->getCollisionShape();
if (compound->getNumChildShapes()>MAX_SPU_COMPOUND_SUBSHAPES)
{
//printf("PPU fallback, compound->getNumChildShapes(%d)>%d\n",compound->getNumChildShapes(),MAX_SPU_COMPOUND_SUBSHAPES);
supportsSpuDispatch = false;
}
}
if (supportsSpuDispatch)
{
int so = sizeof(SpuContactManifoldCollisionAlgorithm);
#ifdef ALLOCATE_SEPARATELY
void* mem = btAlignedAlloc(so,16);//m_dispatcher->allocateCollisionAlgorithm(so);
#else
void* mem = m_dispatcher->allocateCollisionAlgorithm(so);
#endif
collisionPair.m_algorithm = new(mem) SpuContactManifoldCollisionAlgorithm(ci,colObj0,colObj1);
collisionPair.m_internalTmpValue = 2;
} else
{
btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform());
btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform());
collisionPair.m_algorithm = m_dispatcher->findAlgorithm(&ob0,&ob1);
collisionPair.m_internalTmpValue = 3;
}
}
}
}
return false;
}
//------------------------------------------------------------------------------
int main( int argc, char * argv[] )
{
base::auxi::Timer total, detailed;
//--------------------------------------------------------------------------
// User input
if ( argc != 5 ) {
std::cout << "Usage: " << argv[0]
<< " file.smf radius E1 E2 \n\n";
return -1;
}
// input mesh file
const std::string smfFile = boost::lexical_cast<std::string>( argv[1] );
const std::string baseName = base::io::baseName( smfFile, ".smf" );
// problem parameter
const double radius = boost::lexical_cast<double>( argv[2] );
const double E1 = boost::lexical_cast<double>( argv[3] );
const double E2 = boost::lexical_cast<double>( argv[4] );
const double penaltyFactor = 20.0;
// material stuff
const double nu = 0.3;
const double lambda1 = mat::Lame::lambda( E1, nu );
const double lambda2 = mat::Lame::lambda( E2, nu );
const double mu1 = mat::Lame::mu( E1, nu );
const double mu2 = mat::Lame::mu( E2, nu );
//--------------------------------------------------------------------------
const unsigned geomDeg = 1;
const unsigned dim = SPACEDIM;
const base::Shape shape = base::SimplexShape<dim>::value;
const bool isSigned = true;
const unsigned fieldDeg = 1;
const unsigned doFSize = dim;
// use Nitsche
const bool useNitscheTerms = true;
//--------------------------------------------------------------------------
// Domain mesh
typedef base::Unstructured<shape,geomDeg> Mesh;
Mesh mesh;
{
std::ifstream smf( smfFile.c_str() );
base::io::smf::readMesh( smf, mesh );
}
//--------------------------------------------------------------------------
// Compute the level set data
typedef base::cut::LevelSet<dim> LevelSet;
std::vector<LevelSet> levelSet;
base::cut::AnalyticSurface<dim>::Type as =
boost::bind( &interface<dim>, _1, radius, _2 );
base::cut::analyticLevelSet( mesh, as, isSigned, levelSet );
//--------------------------------------------------------------------------
// FE
typedef base::fe::Basis<shape,fieldDeg> FEBasis;
typedef base::cut::ScaledField<FEBasis,doFSize> Field;
Field fieldIn, fieldOut;
base::dof::generate<FEBasis>( mesh, fieldIn );
base::dof::generate<FEBasis>( mesh, fieldOut );
//--------------------------------------------------------------------------
// Cut
typedef base::cut::Cell<shape> Cell;
std::vector<Cell> cells;
base::cut::generateCutCells( mesh, levelSet, cells );
//--------------------------------------------------------------------------
// surface meshes
typedef base::cut::SurfaceMeshBinder<Mesh>::SurfaceMesh SurfaceMesh;
SurfaceMesh boundaryMesh, interfaceMesh;
// from boundary
{
// identify list of element boundary faces
base::mesh::MeshBoundary meshBoundary;
meshBoundary.create( mesh.elementsBegin(), mesh.elementsEnd() );
// generate a mesh from that list (with a filter)
base::mesh::generateBoundaryMesh( meshBoundary.begin(),
meshBoundary.end(),
mesh, boundaryMesh,
boost::bind( &dirichletBoundary<dim>, _1 ) );
}
// from interface
base::cut::generateSurfaceMesh<Mesh,Cell>( mesh, cells, interfaceMesh );
//--------------------------------------------------------------------------
// Quadratures
const unsigned kernelDegEstimate = 5;
// for domain
typedef base::cut::Quadrature<kernelDegEstimate,shape> CutQuadrature;
CutQuadrature cutQuadratureIn( cells, true );
CutQuadrature cutQuadratureOut( cells, false );
// for surface
typedef base::SurfaceQuadrature<kernelDegEstimate,shape> SurfaceQuadrature;
SurfaceQuadrature surfaceQuadrature;
//--------------------------------------------------------------------------
// Bind fields
// for domain fields
typedef base::asmb::FieldBinder<Mesh,Field,Field> FieldBinder;
typedef FieldBinder::TupleBinder<1,1>::Type FTB1;
typedef FieldBinder::TupleBinder<2,2>::Type FTB2;
FieldBinder fieldBinder( mesh, fieldIn, fieldOut );
// for surface fields
typedef base::asmb::SurfaceFieldBinder<SurfaceMesh,Field,Field> SurfaceFieldBinder;
typedef SurfaceFieldBinder::TupleBinder<1,1>::Type STB11;
typedef SurfaceFieldBinder::TupleBinder<2,2>::Type STB22;
typedef SurfaceFieldBinder::TupleBinder<1,2>::Type STB12;
typedef SurfaceFieldBinder::TupleBinder<2,1>::Type STB21;
SurfaceFieldBinder boundaryFieldBinder( boundaryMesh, fieldIn, fieldOut );
SurfaceFieldBinder interfaceFieldBinder( interfaceMesh, fieldIn, fieldOut );
// compute supports, scale basis
const std::size_t numDoFs = std::distance( fieldIn.doFsBegin(), fieldIn.doFsEnd() );
std::vector<double> supportsIn, supportsOut;
supportsIn.resize( numDoFs );
supportsOut.resize( numDoFs );
base::cut::supportComputation( mesh, fieldIn, cutQuadratureIn, supportsIn );
base::cut::supportComputation( mesh, fieldOut, cutQuadratureOut, supportsOut );
fieldIn.scaleAndTagBasis( supportsIn, 1.e-10 );
fieldOut.scaleAndTagBasis( supportsOut, 1.e-10 );
//fieldIn.tagBasis( supportsIn, 1.e-10 );
//fieldOut.tagBasis( supportsOut, 1.e-10 );
// number DoFs, create solver
const std::size_t activeDoFsIn =
base::dof::numberDoFsConsecutively( fieldIn.doFsBegin(), fieldIn.doFsEnd() );
const std::size_t activeDoFsOut =
base::dof::numberDoFsConsecutively( fieldOut.doFsBegin(),
fieldOut.doFsEnd(), activeDoFsIn );
typedef base::solver::Eigen3 Solver;
Solver solver( activeDoFsIn + activeDoFsOut );
message( "Preprocessing time = " + detailed.print() );
detailed.reset();
//--------------------------------------------------------------------------
// Stiffness matrix
typedef mat::hypel::StVenant Material;
Material material1( lambda1, mu1 );
Material material2( lambda2, mu2 );
// matrix kernel
typedef solid::HyperElastic<Material,FTB1::Tuple> HyperElastic1;
HyperElastic1 hyperElastic1( material1 );
typedef solid::HyperElastic<Material,FTB2::Tuple> HyperElastic2;
HyperElastic2 hyperElastic2( material2 );
message( "Stiffness" );
base::asmb::stiffnessMatrixComputation<FTB1>( cutQuadratureIn, solver,
fieldBinder, hyperElastic1 );
base::asmb::stiffnessMatrixComputation<FTB2>( cutQuadratureOut, solver,
fieldBinder, hyperElastic2 );
// boundary conditions
#if 1
{
message("Boundary Penalty");
base::nitsche::OuterBoundary ob1( E1);
base::nitsche::OuterBoundary ob2( E2);
base::nitsche::penaltyLHS<STB11>( surfaceQuadrature, solver,
boundaryFieldBinder, ob1, penaltyFactor );
base::nitsche::penaltyLHS<STB22>( surfaceQuadrature, solver,
boundaryFieldBinder, ob2, penaltyFactor );
base::nitsche::penaltyRHS<STB11>( surfaceQuadrature, solver, boundaryFieldBinder,
boost::bind( &dirichlet<dim>, _1), ob1,
penaltyFactor );
base::nitsche::penaltyRHS<STB22>( surfaceQuadrature, solver, boundaryFieldBinder,
boost::bind( &dirichlet<dim>, _1), ob2,
penaltyFactor );
if ( useNitscheTerms ) {
message("Boundary Nitsche");
base::nitsche::energyLHS<STB11>( hyperElastic1, surfaceQuadrature, solver,
boundaryFieldBinder, ob1 );
base::nitsche::energyLHS<STB22>( hyperElastic2, surfaceQuadrature, solver,
boundaryFieldBinder, ob2 );
base::nitsche::energyRHS<STB11>( hyperElastic1, surfaceQuadrature, solver,
boundaryFieldBinder,
boost::bind( &dirichlet<dim>, _1), ob1 );
base::nitsche::energyRHS<STB22>( hyperElastic2, surfaceQuadrature, solver,
boundaryFieldBinder,
boost::bind( &dirichlet<dim>, _1), ob2 );
}
}
// interface conditions
{
message("Interface Penalty");
base::nitsche::ImmersedInterface<Cell> ip( E1, E2, cells );
base::nitsche::penaltyLHS<STB11>( surfaceQuadrature, solver,
interfaceFieldBinder, ip, penaltyFactor );
base::nitsche::penaltyLHS<STB22>( surfaceQuadrature, solver,
interfaceFieldBinder, ip, penaltyFactor );
base::nitsche::penaltyLHS<STB12>( surfaceQuadrature, solver, interfaceFieldBinder,
ip, -penaltyFactor );
base::nitsche::penaltyLHS<STB21>( surfaceQuadrature, solver, interfaceFieldBinder,
ip, -penaltyFactor );
if ( useNitscheTerms ) {
message("Interface Nitsche");
base::nitsche::energyLHS<STB11>(
hyperElastic1, surfaceQuadrature, solver,
interfaceFieldBinder, ip, true, true ); // kappa1
base::nitsche::energyLHS<STB21>(
hyperElastic1, surfaceQuadrature, solver,
interfaceFieldBinder, ip, true, false ); // -kappa1
base::nitsche::energyLHS<STB12>(
hyperElastic2, surfaceQuadrature, solver,
interfaceFieldBinder, ip, false, true ); // kappa2
base::nitsche::energyLHS<STB22>(
hyperElastic2, surfaceQuadrature, solver,
interfaceFieldBinder, ip, false, false ); // -kappa2
}
}
#endif
//--------------------------------------------------------------------------
// Solve and distribute
solver.finishAssembly();
message( "Assembly time = " + detailed.print() );
detailed.reset();
#ifdef VERBOSE
{
solver.systemInfo( std::cout );
std::ofstream mat( "matrix" );
solver.debugLHS( mat );
std::ofstream vec( "vector" );
solver.debugRHS( vec );
}
#endif
#if 1 // decide to solve and post-process
//solver.choleskySolve();
const unsigned numCGIter = solver.cgSolve();
//message( "Solve time = " + detailed.print() );
const double solveTime = detailed.seconds();
detailed.reset();
base::dof::setDoFsFromSolver( solver, fieldIn );
base::dof::setDoFsFromSolver( solver, fieldOut );
//--------------------------------------------------------------------------
// Extract distances, closestPoints and location flags from level set data
{
}
//--------------------------------------------------------------------------
{
const std::string vtkFile = baseName + ".vtk";
std::ofstream vtk( vtkFile.c_str() );
base::io::vtk::LegacyWriter vtkWriter( vtk );
vtkWriter.writeUnstructuredGrid( mesh );
{
std::vector<double> distances;
std::transform( levelSet.begin(), levelSet.end(),
std::back_inserter( distances ),
boost::bind( &LevelSet::getSignedDistance, _1 ) );
vtkWriter.writePointData( distances.begin(), distances.end(), "distances" );
}
{
std::vector<bool> location;
std::transform( levelSet.begin(), levelSet.end(),
std::back_inserter( location ),
boost::bind( &LevelSet::isInterior, _1 ) );
vtkWriter.writePointData( location.begin(), location.end(), "location" );
}
vtkWriter.writePointData( supportsIn.begin(), supportsIn.end(), "suppIn" );
vtkWriter.writePointData( supportsOut.begin(), supportsOut.end(), "suppOut" );
base::io::vtk::writePointData( vtkWriter, mesh, fieldIn, "fieldIn" );
base::io::vtk::writePointData( vtkWriter, mesh, fieldOut, "fieldOut" );
vtk.close();
}
#ifdef VERBOSE // decide error verbosity
// integrate
double volumeIn = 0.;
base::asmb::simplyIntegrate<FTB1>( cutQuadratureIn, volumeIn, fieldBinder,
base::kernel::Measure<FTB1::Tuple>() );
double volumeOut = 0.;
base::asmb::simplyIntegrate<FTB2>( cutQuadratureOut, volumeOut, fieldBinder,
base::kernel::Measure<FTB2::Tuple>() );
std::cout << "Volume of mesh: " << volumeIn << " + " << volumeOut
<< " = " << volumeIn + volumeOut
<< '\n';
#else
// for convergence analysis
std::cout << solveTime << " " << numCGIter << "\n";
#endif
#endif // decide to solve and write
message( "Post-process time = " + detailed.print() );
message( "---------------------------------------" );
message( "Total time = " + total.print() );
return 0;
}
void prog2()
{
date ob1(12, 4, 2011), ob2("10/22/2001");
ob1.show_date();
ob2.show_date();
}