Foam::tmp<Foam::volScalarField>
Foam::kineticTheoryModels::viscosityModels::HrenyaSinclair::nu
(
const volScalarField& alpha1,
const volScalarField& Theta,
const volScalarField& g0,
const volScalarField& rho1,
const volScalarField& da,
const dimensionedScalar& e
) const
{
const scalar sqrtPi = sqrt(constant::mathematical::pi);
volScalarField lamda
(
scalar(1) + da/(6.0*sqrt(2.0)*(alpha1 + scalar(1.0e-5)))/L_
);
return da*sqrt(Theta)*
(
(4.0/5.0)*sqr(alpha1)*g0*(1.0 + e)/sqrtPi
+ (1.0/15.0)*sqrtPi*g0*(1.0 + e)*(3.0*e - 1)*sqr(alpha1)/(3.0-e)
+ (1.0/6.0)*sqrtPi*alpha1*(0.5*lamda + 0.25*(3.0*e - 1.0))
/(0.5*(3.0 - e)*lamda)
+ (10/96.0)*sqrtPi/((1.0 + e)*0.5*(3.0 - e)*g0*lamda)
);
}
Foam::tmp<Foam::volScalarField>
Foam::kineticTheoryModels::conductivityModels::HrenyaSinclair::kappa
(
const volScalarField& alpha1,
const volScalarField& Theta,
const volScalarField& g0,
const volScalarField& rho1,
const volScalarField& da,
const dimensionedScalar& e
) const
{
const scalar sqrtPi = sqrt(constant::mathematical::pi);
volScalarField lamda
(
scalar(1) + da/(6*sqrt(2.0)*(alpha1 + 1e-5))/L_
);
return rho1*da*sqrt(Theta)*
(
2*sqr(alpha1)*g0*(1 + e)/sqrtPi
+ (9.0/8.0)*sqrtPi*g0*0.25*sqr(1 + e)*(2*e - 1)*sqr(alpha1)
/(49.0/16.0 - 33*e/16.0)
+ (15.0/16.0)*sqrtPi*alpha1*(0.5*sqr(e) + 0.25*e - 0.75 + lamda)
/((49.0/16.0 - 33*e/16.0)*lamda)
+ (25.0/64.0)*sqrtPi
/((1 + e)*(49.0/16.0 - 33*e/16.0)*lamda*g0)
);
}
hduVector3Dd HapticDevice::atomeForce(hduVector3Dd* effector,hduVector3Dd* currentTarget, btTransform* invertCamera){
hduVector3Dd force = hduVector3Dd(0,0.1,0.0);
hduVector3Dd direct = hduVector3Dd(0,0.0,0.0);
HDdouble someNorme = 0.1;
for(unsigned int i = 0; i< m_possibleImpact.size(); i++){
hduVector3Dd impact = invertTransform(m_possibleImpact[i], invertCamera);
hduVector3Dd inbetween = impact - *effector ;
HDdouble x = inbetween.magnitude();
if(x <= Quick_Distance_max)
someNorme += pow(x,2);
}
for(unsigned int i = 0; i< m_possibleImpact.size(); i++){
hduVector3Dd impact = invertTransform(m_possibleImpact[i], invertCamera);
hduVector3Dd inbetween = impact - *effector ;
HDdouble x = inbetween.magnitude();
if(x <= Quick_Distance_max)
direct += (pow(x,2) / someNorme) * impact;
}
direct -= *effector;
HDdouble va = direct.magnitude();
force += 0.3 * pow((lamda(Quick_Distance_max,va) / Quick_Distance_max),2) *
pow((lamda(max_velocity,m_velocity)/max_velocity),2) * direct;
//std::cout << m_velocity << std::endl;
return force;
}
hduVector3Dd HapticDevice::magneticForce(hduVector3Dd* effector,hduVector3Dd* currentTarget,btTransform* invertCamera){
hduVector3Dd force = hduVector3Dd(0,0.1,0.0);
HDdouble phi = 0.58;
HDdouble sigma = 10;
HDdouble s2 = pow(sigma, 2);
HDdouble fmax = 0.0;
HDdouble seuil = 0.5;
hduVector3Dd target = *currentTarget - *effector ;
HDdouble distanceMin = target.magnitude();
/*
for(unsigned int i = 0; i< m_possibleImpact.size(); i++){
hduVector3Dd impact = invertTransform(m_possibleImpact[i], invertCamera);
hduVector3Dd inbetween = impact - *effector ;
HDdouble x = inbetween.magnitude();
HDdouble f = phi * ( pow(x,2)/ s2 ) * std::exp((s2 - pow(x,2))/s2);
inbetween.normalize();
HDdouble d = 1;// 1 si c'est la sible, < 1 sinon
if(x >= 0.1)
d = distanceMin / x;
force += d * f * inbetween;
}
*/
for(int traj = 0; traj < ThronNumber ; traj++){
for(unsigned int i = 0; i< m_trajectory[traj].size(); i++){
if( i % 6 == 0){
hduVector3Dd impact = invertTransform((m_trajectory[traj])[i], invertCamera);
hduVector3Dd inbetween = impact - *effector ;
HDdouble x = inbetween.magnitude();
//if(inbetween[1] < 3 && inbetween[1] > -3){
HDdouble f = phi * ( pow(x,2)/ s2 ) * std::exp((s2 - pow(x,2))/s2);
inbetween.normalize();
HDdouble d = 1;// 1 si c'est la sible, < 1 sinon
if(x >= 0.1)
d = distanceMin / x;
force += f * inbetween;
//}
}
}
}
//std::cout << " --> "<< std::endl;
force *= (lamda(max_velocity,m_velocity)/max_velocity);
return force;
}
