void Law2_ScGeom6D_CohFrictPhys_CohesionMoment::go(shared_ptr<IGeom>& ig, shared_ptr<IPhys>& ip, Interaction* contact)
{
const Real& dt = scene->dt;
const int &id1 = contact->getId1();
const int &id2 = contact->getId2();
ScGeom6D* currentContactGeometry = YADE_CAST<ScGeom6D*> (ig.get());
CohFrictPhys* currentContactPhysics = YADE_CAST<CohFrictPhys*> (ip.get());
Vector3r& shearForce = currentContactPhysics->shearForce;
if (contact->isFresh(scene)) shearForce = Vector3r::Zero();
Real un = currentContactGeometry->penetrationDepth;
Real Fn = currentContactPhysics->kn*(un-currentContactPhysics->unp);
if (currentContactPhysics->fragile && (-Fn)> currentContactPhysics->normalAdhesion) {
// BREAK due to tension
scene->interactions->requestErase(contact); return;
} else {
if ((-Fn)> currentContactPhysics->normalAdhesion) {//normal plasticity
Fn=-currentContactPhysics->normalAdhesion;
currentContactPhysics->unp = un+currentContactPhysics->normalAdhesion/currentContactPhysics->kn;
if (currentContactPhysics->unpMax && currentContactPhysics->unp<currentContactPhysics->unpMax)
scene->interactions->requestErase(contact); return;
}
currentContactPhysics->normalForce = Fn*currentContactGeometry->normal;
State* de1 = Body::byId(id1,scene)->state.get();
State* de2 = Body::byId(id2,scene)->state.get();
///////////////////////// CREEP START ///////////
if (shear_creep) shearForce -= currentContactPhysics->ks*(shearForce*dt/creep_viscosity);
///////////////////////// CREEP END ////////////
Vector3r& shearForce = currentContactGeometry->rotate(currentContactPhysics->shearForce);
const Vector3r& dus = currentContactGeometry->shearIncrement();
//Linear elasticity giving "trial" shear force
shearForce -= currentContactPhysics->ks*dus;
Real Fs = currentContactPhysics->shearForce.norm();
Real maxFs = currentContactPhysics->shearAdhesion;
if (!currentContactPhysics->cohesionDisablesFriction || maxFs==0)
maxFs += Fn*currentContactPhysics->tangensOfFrictionAngle;
maxFs = std::max((Real) 0, maxFs);
if (Fs > maxFs) {//Plasticity condition on shear force
if (currentContactPhysics->fragile && !currentContactPhysics->cohesionBroken) {
currentContactPhysics->SetBreakingState();
maxFs = max((Real) 0, Fn*currentContactPhysics->tangensOfFrictionAngle);
}
maxFs = maxFs / Fs;
Vector3r trialForce=shearForce;
shearForce *= maxFs;
Real dissip=((1/currentContactPhysics->ks)*(trialForce-shearForce))/*plastic disp*/ .dot(shearForce)/*active force*/;
if(dissip>0) scene->energy->add(dissip,"plastDissip",plastDissipIx,/*reset*/false);
if (Fn<0) currentContactPhysics->normalForce = Vector3r::Zero();//Vector3r::Zero()
}
applyForceAtContactPoint(-currentContactPhysics->normalForce-shearForce, currentContactGeometry->contactPoint, id1, de1->se3.position, id2, de2->se3.position);
/// Moment law ///
if (currentContactPhysics->momentRotationLaw && (!currentContactPhysics->cohesionBroken || always_use_moment_law)) {
if (!useIncrementalForm){
if (twist_creep) {
Real viscosity_twist = creep_viscosity * std::pow((2 * std::min(currentContactGeometry->radius1,currentContactGeometry->radius2)),2) / 16.0;
Real angle_twist_creeped = currentContactGeometry->getTwist() * (1 - dt/viscosity_twist);
Quaternionr q_twist(AngleAxisr(currentContactGeometry->getTwist(),currentContactGeometry->normal));
Quaternionr q_twist_creeped(AngleAxisr(angle_twist_creeped,currentContactGeometry->normal));
Quaternionr q_twist_delta(q_twist_creeped * q_twist.conjugate());
currentContactGeometry->twistCreep = currentContactGeometry->twistCreep * q_twist_delta;
}
currentContactPhysics->moment_twist = (currentContactGeometry->getTwist()*currentContactPhysics->ktw)*currentContactGeometry->normal;
currentContactPhysics->moment_bending = currentContactGeometry->getBending() * currentContactPhysics->kr;
}
else{ // Use incremental formulation to compute moment_twis and moment_bending (no twist_creep is applied)
if (twist_creep) throw std::invalid_argument("Law2_ScGeom6D_CohFrictPhys_CohesionMoment: no twis creep is included if the incremental form for the rotations is used.");
Vector3r relAngVel = currentContactGeometry->getRelAngVel(de1,de2,dt);
// *** Bending ***//
Vector3r relAngVelBend = relAngVel - currentContactGeometry->normal.dot(relAngVel)*currentContactGeometry->normal; // keep only the bending part
Vector3r relRotBend = relAngVelBend*dt; // relative rotation due to rolling behaviour
// incremental formulation for the bending moment (as for the shear part)
Vector3r& momentBend = currentContactPhysics->moment_bending;
momentBend = currentContactGeometry->rotate(momentBend); // rotate moment vector (updated)
momentBend = momentBend-currentContactPhysics->kr*relRotBend;
// ----------------------------------------------------------------------------------------
// *** Torsion ***//
Vector3r relAngVelTwist = currentContactGeometry->normal.dot(relAngVel)*currentContactGeometry->normal;
Vector3r relRotTwist = relAngVelTwist*dt; // component of relative rotation along n FIXME: sign?
// incremental formulation for the torsional moment
Vector3r& momentTwist = currentContactPhysics->moment_twist;
momentTwist = currentContactGeometry->rotate(momentTwist); // rotate moment vector (updated)
momentTwist = momentTwist-currentContactPhysics->ktw*relRotTwist; // FIXME: sign?
}
/// Plasticity ///
// limit rolling moment to the plastic value, if required
Real RollMax = currentContactPhysics->maxRollPl*currentContactPhysics->normalForce.norm();
if (RollMax>0.){ // do we want to apply plasticity?
LOG_WARN("If :yref:`CohesiveFrictionalContactLaw::useIncrementalForm` is false, then plasticity would not be applied correctly (the total formulation would not reproduce irreversibility).");
Real scalarRoll = currentContactPhysics->moment_bending.norm();
if (scalarRoll>RollMax){ // fix maximum rolling moment
Real ratio = RollMax/scalarRoll;
currentContactPhysics->moment_bending *= ratio;
}
}
// limit twisting moment to the plastic value, if required
Real TwistMax = currentContactPhysics->maxTwistMoment.norm();
if (TwistMax>0.){ // do we want to apply plasticity?
LOG_WARN("If :yref:`CohesiveFrictionalContactLaw::useIncrementalForm` is false, then plasticity would not be applied correctly (the total formulation would not reproduce irreversibility).");
Real scalarTwist= currentContactPhysics->moment_twist.norm();
if (scalarTwist>TwistMax){ // fix maximum rolling moment
Real ratio = TwistMax/scalarTwist;
currentContactPhysics->moment_twist *= ratio;
}
}
// Apply moments now
Vector3r moment = currentContactPhysics->moment_twist + currentContactPhysics->moment_bending;
scene->forces.addTorque(id1,-moment);
scene->forces.addTorque(id2, moment);
}
/// Moment law END ///
}
}
bool Law2_CylScGeom6D_CohFrictPhys_CohesionMoment::go(shared_ptr<IGeom>& ig, shared_ptr<IPhys>& ip, Interaction* contact) {
int id1 = contact->getId1(), id2 = contact->getId2();
CylScGeom6D* geom= YADE_CAST<CylScGeom6D*>(ig.get());
CohFrictPhys* currentContactPhysics = YADE_CAST<CohFrictPhys*>(ip.get());
Vector3r& shearForce = currentContactPhysics->shearForce; //force tangentielle
if (contact->isFresh(scene)) shearForce = Vector3r::Zero(); //contact nouveau => force tengentielle = 0,0,0
Real un = geom->penetrationDepth; //un : interpenetration
Real Fn = currentContactPhysics->kn*(un-currentContactPhysics->unp); //Fn : force normale
if (geom->isDuplicate) {
if (id2!=geom->trueInt) {
//cerr<<"skip duplicate "<<id1<<" "<<id2<<endl;
if (geom->isDuplicate==2) return false;}
}
if (currentContactPhysics->fragile && (-Fn)> currentContactPhysics->normalAdhesion) {
// BREAK due to tension
return false;
} else {
if ((-Fn)> currentContactPhysics->normalAdhesion) {//normal plasticity
Fn=-currentContactPhysics->normalAdhesion;
currentContactPhysics->unp = un+currentContactPhysics->normalAdhesion/currentContactPhysics->kn;
if (currentContactPhysics->unpMax && currentContactPhysics->unp<currentContactPhysics->unpMax) return false;
}
currentContactPhysics->normalForce = Fn*geom->normal;
Vector3r& shearForce = geom->rotate(currentContactPhysics->shearForce);
const Vector3r& dus = geom->shearIncrement();
//Linear elasticity giving "trial" shear force
shearForce -= currentContactPhysics->ks*dus;
Real Fs = currentContactPhysics->shearForce.norm();
Real maxFs = currentContactPhysics->shearAdhesion;
if (!currentContactPhysics->cohesionDisablesFriction || maxFs==0)
maxFs += Fn*currentContactPhysics->tangensOfFrictionAngle;
maxFs = std::max((Real) 0, maxFs);
if (Fs > maxFs) {//Plasticity condition on shear force
if (currentContactPhysics->fragile && !currentContactPhysics->cohesionBroken) {
currentContactPhysics->SetBreakingState();
maxFs = max((Real) 0, Fn*currentContactPhysics->tangensOfFrictionAngle);
}
maxFs = maxFs / Fs;
shearForce *= maxFs;
if (Fn<0) currentContactPhysics->normalForce = Vector3r::Zero();//Vector3r::Zero()
}
Vector3r force = -currentContactPhysics->normalForce-shearForce;
if (!scene->isPeriodic) {
scene->forces.addForce(id1,force);
scene->forces.addTorque(id1,(geom->radius1-0.5*geom->penetrationDepth)* geom->normal.cross(force));
//FIXME : include moment due to axis-contact distance in forces on node
Vector3r twist = (geom->radius2-0.5*geom->penetrationDepth)* geom->normal.cross(force);
scene->forces.addForce(id2,(geom->relPos-1)*force);
scene->forces.addTorque(id2,(1-geom->relPos)*twist);
if (geom->relPos) { //else we are on node (or on last node - and id3 is junk)
scene->forces.addForce(geom->id3,(-geom->relPos)*force);
scene->forces.addTorque(geom->id3,geom->relPos*twist);}
}
// applyForceAtContactPoint(-phys->normalForce-shearForce, geom->contactPoint, id1, de1->se3.position, id2, de2->se3.position);
else {//FIXME : periodicity not implemented here :
scene->forces.addForce(id1,force);
scene->forces.addForce(id2,-force);
scene->forces.addTorque(id1,(geom->radius1-0.5*geom->penetrationDepth)* geom->normal.cross(force));
scene->forces.addTorque(id2,(geom->radius2-0.5*geom->penetrationDepth)* geom->normal.cross(force));
}
//applyForceAtContactPoint(-currentContactPhysics->normalForce-shearForce, geom->contactPoint, id1, de1->se3.position, id2, de2->se3.position);
}
return true;
}
bool Law2_ChCylGeom6D_CohFrictPhys_CohesionMoment::go(shared_ptr<IGeom>& ig, shared_ptr<IPhys>& ip, Interaction* contact){
int id1 = contact->getId1(), id2 = contact->getId2();
ChCylGeom6D* geom= YADE_CAST<ChCylGeom6D*>(ig.get());
CohFrictPhys* currentContactPhysics = YADE_CAST<CohFrictPhys*>(ip.get());
/*
shared_ptr<const ChainedState> state1 = YADE_PTR_CAST<const ChainedState> (Body::byId(id1,scene)->state);
const shared_ptr<Interaction> intr = scene->interactions->find(id1,id2+1);
if(!intr) {cout<<"Skipping contact because collider didn't found the next cylinder."<<endl;return false;}
intr->geom = c->geom;
intr->phys = c->phys;
*/
Vector3r& shearForce = currentContactPhysics->shearForce; //force tangentielle
if (contact->isFresh(scene)) shearForce = Vector3r::Zero(); //contact nouveau => force tengentielle = 0,0,0
Real un = geom->penetrationDepth; //un : interpenetration
Real Fn = currentContactPhysics->kn*(un-currentContactPhysics->unp); //Fn : force normale
if (currentContactPhysics->fragile && (-Fn)> currentContactPhysics->normalAdhesion) return false; // BREAK due to tension
else {
if ((-Fn)> currentContactPhysics->normalAdhesion) {//normal plasticity
Fn=-currentContactPhysics->normalAdhesion;
currentContactPhysics->unp = un+currentContactPhysics->normalAdhesion/currentContactPhysics->kn;
if (currentContactPhysics->unpMax && currentContactPhysics->unp<currentContactPhysics->unpMax)
return false;
}
currentContactPhysics->normalForce = Fn*geom->normal;
Vector3r& shearForce = geom->rotate(currentContactPhysics->shearForce);
const Vector3r& dus = geom->shearIncrement();
//Linear elasticity giving "trial" shear force
shearForce -= currentContactPhysics->ks*dus;
Real Fs = currentContactPhysics->shearForce.norm();
Real maxFs = currentContactPhysics->shearAdhesion;
if (!currentContactPhysics->cohesionDisablesFriction || maxFs==0)
maxFs += Fn*currentContactPhysics->tangensOfFrictionAngle;
maxFs = std::max((Real) 0, maxFs);
if (Fs > maxFs) {//Plasticity condition on shear force
if (currentContactPhysics->fragile && !currentContactPhysics->cohesionBroken) {
currentContactPhysics->SetBreakingState();
maxFs = max((Real) 0, Fn*currentContactPhysics->tangensOfFrictionAngle);
}
maxFs = maxFs / Fs;
shearForce *= maxFs;
if (Fn<0) currentContactPhysics->normalForce = Vector3r::Zero();//Vector3r::Zero()
}
Vector3r force = -currentContactPhysics->normalForce-shearForce;
//cout<<"id1="<<contact->getId1()<<" id2="<<contact->getId2()<<" normalForce="<<currentContactPhysics->normalForce<<" shearForce="<<shearForce<<endl;
if (!scene->isPeriodic) {
Vector3r twist1 = (geom->radius1-0.5*geom->penetrationDepth)* geom->normal.cross(force);
Vector3r twist2 = (geom->radius2-0.5*geom->penetrationDepth)* geom->normal.cross(force);
scene->forces.addForce(id1,(1-geom->relPos1)*force);
scene->forces.addTorque(id1,(1-geom->relPos1)*twist1);
scene->forces.addForce(id2,-(1-geom->relPos2)*force);
scene->forces.addTorque(id2,(1-geom->relPos2)*twist2);
scene->forces.addForce(id1+1,geom->relPos1*force);
scene->forces.addTorque(id1+1,geom->relPos1*twist1);
scene->forces.addForce(id2+1,-geom->relPos2*force);
scene->forces.addTorque(id2+1,geom->relPos2*twist2);
}
// applyForceAtContactPoint(-phys->normalForce-shearForce, geom->contactPoint, id1, de1->se3.position, id2, de2->se3.position);
else {//FIXME : periodicity not implemented here :
scene->forces.addForce(id1,force);
scene->forces.addForce(id2,-force);
scene->forces.addTorque(id1,(geom->radius1-0.5*geom->penetrationDepth)* geom->normal.cross(force));
scene->forces.addTorque(id2,(geom->radius2-0.5*geom->penetrationDepth)* geom->normal.cross(force));
}
}
return true;
}
bool Law2_ScGeom6D_CohFrictPhys_CohesionMoment::go(shared_ptr<IGeom>& ig, shared_ptr<IPhys>& ip, Interaction* contact)
{
const Real& dt = scene->dt;
const int &id1 = contact->getId1();
const int &id2 = contact->getId2();
ScGeom6D* geom = YADE_CAST<ScGeom6D*> (ig.get());
CohFrictPhys* phys = YADE_CAST<CohFrictPhys*> (ip.get());
Vector3r& shearForce = phys->shearForce;
if (contact->isFresh(scene)) shearForce = Vector3r::Zero();
Real un = geom->penetrationDepth;
Real Fn = phys->kn*(un-phys->unp);
if (phys->fragile && (-Fn)> phys->normalAdhesion) {
// BREAK due to tension
return false;
} else {
if ((-Fn)> phys->normalAdhesion) {//normal plasticity
Fn=-phys->normalAdhesion;
phys->unp = un+phys->normalAdhesion/phys->kn;
if (phys->unpMax>=0 && -phys->unp>phys->unpMax) // Actually unpMax should be defined as a function of the average particule sizes for instance
return false;
}
phys->normalForce = Fn*geom->normal;
State* de1 = Body::byId(id1,scene)->state.get();
State* de2 = Body::byId(id2,scene)->state.get();
///////////////////////// CREEP START ///////////
if (shear_creep) shearForce -= phys->ks*(shearForce*dt/creep_viscosity);
///////////////////////// CREEP END ////////////
Vector3r& shearForce = geom->rotate(phys->shearForce);
const Vector3r& dus = geom->shearIncrement();
//Linear elasticity giving "trial" shear force
shearForce -= phys->ks*dus;
Real Fs = phys->shearForce.norm();
Real maxFs = phys->shearAdhesion;
if (!phys->cohesionDisablesFriction || maxFs==0)
maxFs += Fn*phys->tangensOfFrictionAngle;
maxFs = std::max((Real) 0, maxFs);
if (Fs > maxFs) {//Plasticity condition on shear force
if (phys->fragile && !phys->cohesionBroken) {
phys->SetBreakingState();
maxFs = max((Real) 0, Fn*phys->tangensOfFrictionAngle);
}
maxFs = maxFs / Fs;
Vector3r trialForce=shearForce;
shearForce *= maxFs;
if (scene->trackEnergy || traceEnergy){
Real sheardissip=((1/phys->ks)*(trialForce-shearForce))/*plastic disp*/ .dot(shearForce)/*active force*/;
if(sheardissip>0) {
plasticDissipation+=sheardissip;
if (scene->trackEnergy) scene->energy->add(sheardissip,"shearDissip",shearDissipIx,/*reset*/false);}
}
if (Fn<0) phys->normalForce = Vector3r::Zero();//Vector3r::Zero()
}
//Apply the force
applyForceAtContactPoint(-phys->normalForce-shearForce, geom->contactPoint, id1, de1->se3.position, id2, de2->se3.position + (scene->isPeriodic ? scene->cell->intrShiftPos(contact->cellDist): Vector3r::Zero()));
/// Moment law ///
if (phys->momentRotationLaw && (!phys->cohesionBroken || always_use_moment_law)) {
if (!useIncrementalForm){
if (twist_creep) {
Real viscosity_twist = creep_viscosity * std::pow((2 * std::min(geom->radius1,geom->radius2)),2) / 16.0;
Real angle_twist_creeped = geom->getTwist() * (1 - dt/viscosity_twist);
Quaternionr q_twist(AngleAxisr(geom->getTwist(),geom->normal));
Quaternionr q_twist_creeped(AngleAxisr(angle_twist_creeped,geom->normal));
Quaternionr q_twist_delta(q_twist_creeped * q_twist.conjugate());
geom->twistCreep = geom->twistCreep * q_twist_delta;
}
phys->moment_twist = (geom->getTwist()*phys->ktw)*geom->normal;
phys->moment_bending = geom->getBending() * phys->kr;
}
else{ // Use incremental formulation to compute moment_twis and moment_bending (no twist_creep is applied)
if (twist_creep) throw std::invalid_argument("Law2_ScGeom6D_CohFrictPhys_CohesionMoment: no twis creep is included if the incremental form for the rotations is used.");
Vector3r relAngVel = geom->getRelAngVel(de1,de2,dt);
// *** Bending ***//
Vector3r relAngVelBend = relAngVel - geom->normal.dot(relAngVel)*geom->normal; // keep only the bending part
Vector3r relRotBend = relAngVelBend*dt; // relative rotation due to rolling behaviour
// incremental formulation for the bending moment (as for the shear part)
Vector3r& momentBend = phys->moment_bending;
momentBend = geom->rotate(momentBend); // rotate moment vector (updated)
momentBend = momentBend-phys->kr*relRotBend;
// ----------------------------------------------------------------------------------------
// *** Torsion ***//
Vector3r relAngVelTwist = geom->normal.dot(relAngVel)*geom->normal;
Vector3r relRotTwist = relAngVelTwist*dt; // component of relative rotation along n FIXME: sign?
// incremental formulation for the torsional moment
Vector3r& momentTwist = phys->moment_twist;
momentTwist = geom->rotate(momentTwist); // rotate moment vector (updated)
momentTwist = momentTwist-phys->ktw*relRotTwist; // FIXME: sign?
}
/// Plasticity ///
// limit rolling moment to the plastic value, if required
if (phys->maxRollPl>=0.){ // do we want to apply plasticity?
Real RollMax = phys->maxRollPl*phys->normalForce.norm();
if (!useIncrementalForm) LOG_WARN("If :yref:`Law2_ScGeom6D_CohFrictPhys_CohesionMoment::useIncrementalForm` is false, then plasticity will not be applied correctly (the total formulation would not reproduce irreversibility).");
Real scalarRoll = phys->moment_bending.norm();
if (scalarRoll>RollMax){ // fix maximum rolling moment
Real ratio = RollMax/scalarRoll;
phys->moment_bending *= ratio;
if (scene->trackEnergy){
Real bendingdissip=((1/phys->kr)*(scalarRoll-RollMax)*RollMax)/*active force*/;
if(bendingdissip>0) scene->energy->add(bendingdissip,"bendingDissip",bendingDissipIx,/*reset*/false);}
}
}
// limit twisting moment to the plastic value, if required
if (phys->maxTwistPl>=0.){ // do we want to apply plasticity?
Real TwistMax = phys->maxTwistPl*phys->normalForce.norm();
if (!useIncrementalForm) LOG_WARN("If :yref:`Law2_ScGeom6D_CohFrictPhys_CohesionMoment::useIncrementalForm` is false, then plasticity will not be applied correctly (the total formulation would not reproduce irreversibility).");
Real scalarTwist= phys->moment_twist.norm();
if (scalarTwist>TwistMax){ // fix maximum rolling moment
Real ratio = TwistMax/scalarTwist;
phys->moment_twist *= ratio;
if (scene->trackEnergy){
Real twistdissip=((1/phys->ktw)*(scalarTwist-TwistMax)*TwistMax)/*active force*/;
if(twistdissip>0) scene->energy->add(twistdissip,"twistDissip",twistDissipIx,/*reset*/false);}
}
}
// Apply moments now
Vector3r moment = phys->moment_twist + phys->moment_bending;
scene->forces.addTorque(id1,-moment);
scene->forces.addTorque(id2, moment);
}
/// Moment law END ///
}
return true;
}