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spheric_particle.cpp
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//
// Authors:
// Miguel Angel Celigueta [email protected]
// Salvador Latorre [email protected]
// Miquel Santasusana [email protected]
// Guillermo Casas [email protected]
// Chengshun Shang [email protected]
//
// System includes
#include <string>
#include <iostream>
#include <cmath>
#include <map>
#include <fstream>
// External includes
// Project includes
#include "spheric_particle.h"
#include "custom_utilities/GeometryFunctions.h"
#include "custom_utilities/AuxiliaryFunctions.h"
#include "custom_utilities/discrete_particle_configure.h"
#include "custom_strategies/schemes/glued_to_wall_scheme.h"
namespace Kratos
{
// using namespace GeometryFunctions;
SphericParticle::SphericParticle()
: DiscreteElement(), mRealMass(0)
{
mRadius = 0;
mRealMass = 0;
mStressTensor = NULL;
mStrainTensor = NULL;
mDifferentialStrainTensor = NULL;
mSymmStressTensor = NULL;
mpTranslationalIntegrationScheme = NULL;
mpRotationalIntegrationScheme = NULL;
mpInlet = NULL;
}
SphericParticle::SphericParticle(IndexType NewId, GeometryType::Pointer pGeometry)
: DiscreteElement(NewId, pGeometry), mRealMass(0){
mRadius = 0;
mRealMass = 0;
mStressTensor = NULL;
mStrainTensor = NULL;
mDifferentialStrainTensor = NULL;
mSymmStressTensor = NULL;
mpTranslationalIntegrationScheme = NULL;
mpRotationalIntegrationScheme = NULL;
mpInlet = NULL;
}
SphericParticle::SphericParticle(IndexType NewId, GeometryType::Pointer pGeometry, PropertiesType::Pointer pProperties)
: DiscreteElement(NewId, pGeometry, pProperties), mRealMass(0)
{
mRadius = 0.0;
mRealMass = 0.0;
mStressTensor = NULL;
mStrainTensor = NULL;
mDifferentialStrainTensor = NULL;
mSymmStressTensor = NULL;
mpTranslationalIntegrationScheme = NULL;
mpRotationalIntegrationScheme = NULL;
mpInlet = NULL;
}
SphericParticle::SphericParticle(IndexType NewId, NodesArrayType const& ThisNodes)
: DiscreteElement(NewId, ThisNodes), mRealMass(0)
{
mRadius = 0;
mRealMass = 0;
mStressTensor = NULL;
mStrainTensor = NULL;
mDifferentialStrainTensor = NULL;
mSymmStressTensor = NULL;
mpTranslationalIntegrationScheme = NULL;
mpRotationalIntegrationScheme = NULL;
mpInlet = NULL;
}
Element::Pointer SphericParticle::Create(IndexType NewId, NodesArrayType const& ThisNodes, PropertiesType::Pointer pProperties) const
{
return Element::Pointer(new SphericParticle(NewId, GetGeometry().Create(ThisNodes), pProperties));
}
/// Destructor.
SphericParticle::~SphericParticle(){
if (mStressTensor!=NULL) {
delete mStressTensor;
mStressTensor = NULL;
delete mSymmStressTensor;
mSymmStressTensor = NULL;
}
if (mStrainTensor) {
delete mStrainTensor;
mStrainTensor = NULL;
}
if (mDifferentialStrainTensor) {
delete mDifferentialStrainTensor;
mDifferentialStrainTensor = NULL;
}
if (mpTranslationalIntegrationScheme!=NULL) {
if(mpTranslationalIntegrationScheme != mpRotationalIntegrationScheme) delete mpTranslationalIntegrationScheme;
mpTranslationalIntegrationScheme = NULL;
}
if (mpRotationalIntegrationScheme!=NULL) {
delete mpRotationalIntegrationScheme;
mpRotationalIntegrationScheme = NULL;
}
}
SphericParticle& SphericParticle::operator=(const SphericParticle& rOther) {
DiscreteElement::operator=(rOther);
mElasticEnergy = rOther.mElasticEnergy;
mMaxNormalBallToBallForceTimesRadius = rOther.mMaxNormalBallToBallForceTimesRadius;
mInelasticFrictionalEnergy = rOther.mInelasticFrictionalEnergy;
mInelasticViscodampingEnergy = rOther.mInelasticViscodampingEnergy;
mInelasticRollingResistanceEnergy = rOther.mInelasticRollingResistanceEnergy;
mNeighbourElements = rOther.mNeighbourElements;
mContactingNeighbourIds = rOther.mContactingNeighbourIds;
mContactingFaceNeighbourIds = rOther.mContactingFaceNeighbourIds;
mNeighbourRigidFaces = rOther.mNeighbourRigidFaces;
mNeighbourNonContactRigidFaces = rOther.mNeighbourNonContactRigidFaces;
mNeighbourPotentialRigidFaces = rOther.mNeighbourPotentialRigidFaces;
mContactConditionWeights = rOther.mContactConditionWeights;
mContactConditionContactTypes = rOther.mContactConditionContactTypes;
mConditionContactPoints = rOther.mConditionContactPoints;
mNeighbourRigidFacesTotalContactForce = rOther.mNeighbourRigidFacesTotalContactForce;
mNeighbourRigidFacesElasticContactForce = rOther.mNeighbourRigidFacesElasticContactForce;
mNeighbourElasticContactForces = rOther.mNeighbourElasticContactForces;
mNeighbourElasticExtraContactForces = rOther.mNeighbourElasticExtraContactForces;
mContactMoment = rOther.mContactMoment;
mPartialRepresentativeVolume = rOther.mPartialRepresentativeVolume; //TODO: to continuum!
mFemOldNeighbourIds = rOther.mFemOldNeighbourIds;
mRadius = rOther.mRadius;
mSearchRadius = rOther.mSearchRadius;
mRealMass = rOther.mRealMass;
mClusterId = rOther.mClusterId;
mGlobalDamping = rOther.mGlobalDamping;
mGlobalViscousDamping = rOther.mGlobalViscousDamping;
mDiscontinuumConstitutiveLaw = rOther.mDiscontinuumConstitutiveLaw->CloneUnique();
mRollingFrictionModel = rOther.mRollingFrictionModel->CloneUnique();
if (rOther.mStressTensor != NULL) {
mStressTensor = new BoundedMatrix<double, 3, 3>(3,3);
*mStressTensor = *rOther.mStressTensor;
mSymmStressTensor = new BoundedMatrix<double, 3, 3>(3,3);
*mSymmStressTensor = *rOther.mSymmStressTensor;
}
else {
mStressTensor = NULL;
mSymmStressTensor = NULL;
}
if (rOther.mStrainTensor) {
mStrainTensor = new BoundedMatrix<double, 3, 3>(3,3);
*mStrainTensor = *rOther.mStrainTensor;
}
else {
mStrainTensor = NULL;
}
if (rOther.mDifferentialStrainTensor) {
mDifferentialStrainTensor = new BoundedMatrix<double, 3, 3>(3,3);
*mDifferentialStrainTensor = *rOther.mDifferentialStrainTensor;
}
else {
mDifferentialStrainTensor = NULL;
}
mFastProperties = rOther.mFastProperties; //This might be unsafe
DEMIntegrationScheme::Pointer& translational_integration_scheme = GetProperties()[DEM_TRANSLATIONAL_INTEGRATION_SCHEME_POINTER];
DEMIntegrationScheme::Pointer& rotational_integration_scheme = GetProperties()[DEM_ROTATIONAL_INTEGRATION_SCHEME_POINTER];
SetIntegrationScheme(translational_integration_scheme, rotational_integration_scheme);
SetValue(WALL_POINT_CONDITION_POINTERS, std::vector<Condition*>());
SetValue(WALL_POINT_CONDITION_ELASTIC_FORCES, std::vector<array_1d<double, 3> >());
SetValue(WALL_POINT_CONDITION_TOTAL_FORCES, std::vector<array_1d<double, 3> >());
return *this;
}
void SphericParticle::Initialize(const ProcessInfo& r_process_info)
{
KRATOS_TRY
this->mInitializationTime = r_process_info[TIME];
this->mIndentationInitialOption = r_process_info[CLEAN_INDENT_V2_OPTION];
SetValue(NEIGHBOUR_IDS, DenseVector<int>());
MemberDeclarationFirstStep(r_process_info);
NodeType& node = GetGeometry()[0];
SetRadius(node.GetSolutionStepValue(RADIUS));
SetMass(GetDensity() * CalculateVolume());
if (this->IsNot(BLOCKED)) node.GetSolutionStepValue(PARTICLE_MATERIAL) = GetParticleMaterial();
mClusterId = -1;
if (this->Is(DEMFlags::HAS_ROTATION)) {
node.GetSolutionStepValue(PARTICLE_MOMENT_OF_INERTIA) = CalculateMomentOfInertia();
Quaternion<double> Orientation = Quaternion<double>::Identity();
node.GetSolutionStepValue(ORIENTATION) = Orientation;
array_1d<double, 3> angular_momentum;
CalculateLocalAngularMomentum(angular_momentum);
noalias(node.GetSolutionStepValue(ANGULAR_MOMENTUM)) = angular_momentum;
array_1d<double, 3>& delta_rotation = node.GetSolutionStepValue(DELTA_ROTATION);
delta_rotation = ZeroVector(3);
array_1d<double, 3>& rotation_angle = node.GetSolutionStepValue(PARTICLE_ROTATION_ANGLE);
rotation_angle = ZeroVector(3);
if (this->Is(DEMFlags::HAS_ROLLING_FRICTION)) {
mRollingFrictionModel = pCloneRollingFrictionModel(this);
}
}
else {
array_1d<double, 3>& angular_velocity = node.GetSolutionStepValue(ANGULAR_VELOCITY); //TODO: do we need this when there is no rotation??
angular_velocity = ZeroVector(3);
}
if (node.GetDof(VELOCITY_X).IsFixed()) {node.Set(DEMFlags::FIXED_VEL_X,true);}
else {node.Set(DEMFlags::FIXED_VEL_X,false);}
if (node.GetDof(VELOCITY_Y).IsFixed()) {node.Set(DEMFlags::FIXED_VEL_Y,true);}
else {node.Set(DEMFlags::FIXED_VEL_Y,false);}
if (node.GetDof(VELOCITY_Z).IsFixed()) {node.Set(DEMFlags::FIXED_VEL_Z,true);}
else {node.Set(DEMFlags::FIXED_VEL_Z,false);}
if (node.GetDof(ANGULAR_VELOCITY_X).IsFixed()) {node.Set(DEMFlags::FIXED_ANG_VEL_X,true);}
else {node.Set(DEMFlags::FIXED_ANG_VEL_X,false);}
if (node.GetDof(ANGULAR_VELOCITY_Y).IsFixed()) {node.Set(DEMFlags::FIXED_ANG_VEL_Y,true);}
else {node.Set(DEMFlags::FIXED_ANG_VEL_Y,false);}
if (node.GetDof(ANGULAR_VELOCITY_Z).IsFixed()) {node.Set(DEMFlags::FIXED_ANG_VEL_Z,true);}
else {node.Set(DEMFlags::FIXED_ANG_VEL_Z,false);}
double& elastic_energy = this->GetElasticEnergy();
elastic_energy = 0.0;
double& inelastic_frictional_energy = this->GetInelasticFrictionalEnergy();
inelastic_frictional_energy = 0.0;
double& inelastic_viscodamping_energy = this->GetInelasticViscodampingEnergy();
inelastic_viscodamping_energy = 0.0;
double& inelastic_rollingresistance_energy = this->GetInelasticRollingResistanceEnergy();
inelastic_rollingresistance_energy = 0.0;
double& max_normal_ball_to_ball_force_times_radius = this->GetMaxNormalBallToBallForceTimesRadius();
max_normal_ball_to_ball_force_times_radius = 0.0;
DEMIntegrationScheme::Pointer& translational_integration_scheme = GetProperties()[DEM_TRANSLATIONAL_INTEGRATION_SCHEME_POINTER];
DEMIntegrationScheme::Pointer& rotational_integration_scheme = GetProperties()[DEM_ROTATIONAL_INTEGRATION_SCHEME_POINTER];
SetIntegrationScheme(translational_integration_scheme, rotational_integration_scheme);
SetValue(WALL_POINT_CONDITION_POINTERS, std::vector<Condition*>());
SetValue(WALL_POINT_CONDITION_ELASTIC_FORCES, std::vector<array_1d<double, 3> >());
SetValue(WALL_POINT_CONDITION_TOTAL_FORCES, std::vector<array_1d<double, 3> >());
KRATOS_CATCH( "" )
}
void SphericParticle::SetIntegrationScheme(DEMIntegrationScheme::Pointer& translational_integration_scheme, DEMIntegrationScheme::Pointer& rotational_integration_scheme) {
mpTranslationalIntegrationScheme = translational_integration_scheme->CloneRaw();
mpRotationalIntegrationScheme = rotational_integration_scheme->CloneRaw();
}
void SphericParticle::CalculateRightHandSide(const ProcessInfo& r_process_info, double dt, const array_1d<double,3>& gravity)
{
KRATOS_TRY
// Creating a data buffer to store those variables that we want to reuse so that we can keep function parameter lists short
SphericParticle::BufferPointerType p_buffer = CreateParticleDataBuffer(this); // all memory will be freed once this shared pointer goes out of scope
ParticleDataBuffer& data_buffer = *p_buffer;
data_buffer.SetBoundingBox(r_process_info[DOMAIN_IS_PERIODIC], r_process_info[DOMAIN_MIN_CORNER], r_process_info[DOMAIN_MAX_CORNER]);
NodeType& this_node = GetGeometry()[0];
data_buffer.mDt = dt;
data_buffer.mTime = r_process_info[TIME];
data_buffer.mMultiStageRHS = false;
array_1d<double, 3> additional_forces = ZeroVector(3);
array_1d<double, 3> additionally_applied_moment = ZeroVector(3);
array_1d<double, 3>& elastic_force = this_node.FastGetSolutionStepValue(ELASTIC_FORCES);
array_1d<double, 3>& contact_force = this_node.FastGetSolutionStepValue(CONTACT_FORCES);
array_1d<double, 3>& rigid_element_force = this_node.FastGetSolutionStepValue(RIGID_ELEMENT_FORCE);
mContactMoment.clear();
elastic_force.clear();
contact_force.clear();
rigid_element_force.clear();
//mBondedScalingFactor[0] = 0.0;
//mBondedScalingFactor[1] = 0.0;
//mBondedScalingFactor[2] = 0.0;
InitializeForceComputation(r_process_info);
ComputeBallToBallContactForceAndMoment(data_buffer, r_process_info, elastic_force, contact_force);
ComputeBallToRigidFaceContactForceAndMoment(data_buffer, elastic_force, contact_force, rigid_element_force, r_process_info);
if (this->IsNot(DEMFlags::BELONGS_TO_A_CLUSTER)){
ComputeAdditionalForces(additional_forces, additionally_applied_moment, r_process_info, gravity);
#ifdef KRATOS_DEBUG
DemDebugFunctions::CheckIfNan(additional_forces, "NAN in Additional Force in RHS of Ball");
DemDebugFunctions::CheckIfNan(additionally_applied_moment, "NAN in Additional Torque in RHS of Ball");
#endif
}
if (this->Is(DEMFlags::HAS_ROTATION) && !data_buffer.mMultiStageRHS) {
if (this->Is(DEMFlags::HAS_ROLLING_FRICTION) && !data_buffer.mMultiStageRHS) {
mRollingFrictionModel->DoFinalOperations(this, dt, mContactMoment);
}
}
array_1d<double,3>& total_forces = this_node.FastGetSolutionStepValue(TOTAL_FORCES);
array_1d<double,3>& total_moment = this_node.FastGetSolutionStepValue(PARTICLE_MOMENT);
total_forces[0] = contact_force[0] + additional_forces[0];
total_forces[1] = contact_force[1] + additional_forces[1];
total_forces[2] = contact_force[2] + additional_forces[2];
total_moment[0] = mContactMoment[0] + additionally_applied_moment[0];
total_moment[1] = mContactMoment[1] + additionally_applied_moment[1];
total_moment[2] = mContactMoment[2] + additionally_applied_moment[2];
ApplyGlobalDampingToContactForcesAndMoments(total_forces, total_moment);
#ifdef KRATOS_DEBUG
DemDebugFunctions::CheckIfNan(total_forces, "NAN in Total Forces in RHS of Ball");
DemDebugFunctions::CheckIfNan(total_moment, "NAN in Total Torque in RHS of Ball");
#endif
FinalizeForceComputation(data_buffer);
KRATOS_CATCH("")
}
void SphericParticle::InitializeForceComputation(const ProcessInfo& r_process_info){ }
void SphericParticle::FirstCalculateRightHandSide(const ProcessInfo& r_process_info, double dt){}
void SphericParticle::CollectCalculateRightHandSide(const ProcessInfo& r_process_info){}
void SphericParticle::FinalCalculateRightHandSide(const ProcessInfo& r_process_info, double dt, const array_1d<double,3>& gravity){}
void SphericParticle::CalculateMaxBallToBallIndentation(double& r_current_max_indentation, const ProcessInfo& r_process_info)
{
r_current_max_indentation = - std::numeric_limits<double>::max();
for (unsigned int i = 0; i < mNeighbourElements.size(); i++){
SphericParticle* ineighbour = mNeighbourElements[i];
auto& central_node = GetGeometry()[0];
auto& neighbour_node = ineighbour->GetGeometry()[0];
array_1d<double, 3> other_to_me_vect;
if (!r_process_info[DOMAIN_IS_PERIODIC]){ // default infinite-domain case
noalias(other_to_me_vect) = central_node.Coordinates() - neighbour_node.Coordinates();
}
else { // periodic domain
double my_coors[3] = {central_node[0], central_node[1], central_node[2]};
double other_coors[3] = {neighbour_node[0], neighbour_node[1], neighbour_node[2]};
TransformNeighbourCoorsToClosestInPeriodicDomain(r_process_info, my_coors, other_coors);
other_to_me_vect[0] = my_coors[0] - other_coors[0];
other_to_me_vect[1] = my_coors[1] - other_coors[1];
other_to_me_vect[2] = my_coors[2] - other_coors[2];
}
double other_radius = ineighbour->GetInteractionRadius();
double distance = DEM_MODULUS_3(other_to_me_vect);
double radius_sum = GetInteractionRadius() + other_radius;
double indentation = radius_sum - distance;
r_current_max_indentation = (indentation > r_current_max_indentation) ? indentation : r_current_max_indentation;
}
}
void SphericParticle::CalculateMaxBallToFaceIndentation(double& r_current_max_indentation)
{
r_current_max_indentation = - std::numeric_limits<double>::max();
std::vector<DEMWall*>& rNeighbours = this->mNeighbourRigidFaces;
for (unsigned int i = 0; i < rNeighbours.size(); i++) {
double LocalCoordSystem[3][3] = {{0.0}, {0.0}, {0.0}};
array_1d<double, 3> wall_delta_disp_at_contact_point = ZeroVector(3);
array_1d<double, 3> wall_velocity_at_contact_point = ZeroVector(3);
double DistPToB = 0.0;
int ContactType = -1;
array_1d<double, 4>& Weight = this->mContactConditionWeights[i];
//ComputeConditionRelativeData(i,rNeighbours[i], LocalCoordSystem, DistPToB, Weight, wall_delta_disp_at_contact_point, wall_velocity_at_contact_point, ContactType);
rNeighbours[i]->ComputeConditionRelativeData(i, this, LocalCoordSystem, DistPToB, Weight, wall_delta_disp_at_contact_point, wall_velocity_at_contact_point, ContactType);
if(ContactType > 0){
double indentation = GetInteractionRadius() - DistPToB;
r_current_max_indentation = (indentation > r_current_max_indentation) ? indentation : r_current_max_indentation;
}
} //for every rigidface neighbor
}
void SphericParticle::CalculateMomentum(array_1d<double, 3>& r_momentum)
{
const array_1d<double, 3>& vel = this->GetGeometry()[0].FastGetSolutionStepValue(VELOCITY);
noalias(r_momentum) = GetMass() * vel;
}
void SphericParticle::CalculateLocalAngularMomentum(array_1d<double, 3>& r_angular_momentum)
{
const array_1d<double, 3> ang_vel = this->GetGeometry()[0].FastGetSolutionStepValue(ANGULAR_VELOCITY);
const double moment_of_inertia = this->GetGeometry()[0].FastGetSolutionStepValue(PARTICLE_MOMENT_OF_INERTIA);
noalias(r_angular_momentum) = moment_of_inertia * ang_vel;
}
void SphericParticle::ComputeNewNeighboursHistoricalData(DenseVector<int>& temp_neighbours_ids,
std::vector<array_1d<double, 3> >& temp_neighbour_elastic_contact_forces)
{
std::vector<array_1d<double, 3> > temp_neighbour_elastic_extra_contact_forces;
unsigned int new_size = mNeighbourElements.size();
array_1d<double, 3> vector_of_zeros = ZeroVector(3);
temp_neighbours_ids.resize(new_size, false);
temp_neighbour_elastic_contact_forces.resize(new_size);
temp_neighbour_elastic_extra_contact_forces.resize(new_size);
DenseVector<int>& vector_of_ids_of_neighbours = GetValue(NEIGHBOUR_IDS);
for (unsigned int i = 0; i < new_size; i++) {
noalias(temp_neighbour_elastic_contact_forces[i]) = vector_of_zeros;
noalias(temp_neighbour_elastic_extra_contact_forces[i]) = vector_of_zeros;
if (mNeighbourElements[i] == NULL) { // This is required by the continuum sphere which reorders the neighbors
temp_neighbours_ids[i] = -1;
continue;
}
temp_neighbours_ids[i] = mNeighbourElements[i]->Id();
for (unsigned int j = 0; j < vector_of_ids_of_neighbours.size(); j++) {
if (int(temp_neighbours_ids[i]) == vector_of_ids_of_neighbours[j] && vector_of_ids_of_neighbours[j] != -1) {
noalias(temp_neighbour_elastic_contact_forces[i]) = mNeighbourElasticContactForces[j];
noalias(temp_neighbour_elastic_extra_contact_forces[i]) = mNeighbourElasticExtraContactForces[j]; //TODO: remove this from discontinuum!!
break;
}
}
}
vector_of_ids_of_neighbours.swap(temp_neighbours_ids);
mNeighbourElasticContactForces.swap(temp_neighbour_elastic_contact_forces);
mNeighbourElasticExtraContactForces.swap(temp_neighbour_elastic_extra_contact_forces);
}
void SphericParticle::ComputeNewRigidFaceNeighboursHistoricalData()
{
array_1d<double, 3> vector_of_zeros = ZeroVector(3);
std::vector<DEMWall*>& rNeighbours = this->mNeighbourRigidFaces;
unsigned int new_size = rNeighbours.size();
std::vector<int> temp_neighbours_ids(new_size); //these two temporal vectors are very small, saving them as a member of the particle loses time (usually they consist on 1 member).
std::vector<array_1d<double, 3> > temp_neighbours_elastic_contact_forces(new_size);
std::vector<array_1d<double, 3> > temp_neighbours_contact_forces(new_size);
for (unsigned int i = 0; i<rNeighbours.size(); i++){
noalias(temp_neighbours_elastic_contact_forces[i]) = vector_of_zeros;
noalias(temp_neighbours_contact_forces[i]) = vector_of_zeros;
if (rNeighbours[i] == NULL) { // This is required by the continuum sphere which reorders the neighbors
temp_neighbours_ids[i] = -1;
continue;
}
temp_neighbours_ids[i] = static_cast<int>(rNeighbours[i]->Id());
for (unsigned int j = 0; j != mFemOldNeighbourIds.size(); j++) {
if (static_cast<int>(temp_neighbours_ids[i]) == mFemOldNeighbourIds[j] && mFemOldNeighbourIds[j] != -1) {
noalias(temp_neighbours_elastic_contact_forces[i]) = mNeighbourRigidFacesElasticContactForce[j];
noalias(temp_neighbours_contact_forces[i]) = mNeighbourRigidFacesTotalContactForce[j];
break;
}
}
}
mFemOldNeighbourIds.swap(temp_neighbours_ids);
mNeighbourRigidFacesElasticContactForce.swap(temp_neighbours_elastic_contact_forces);
mNeighbourRigidFacesTotalContactForce.swap(temp_neighbours_contact_forces);
}
void SphericParticle::EquationIdVector(EquationIdVectorType& rResult, const ProcessInfo& r_process_info) const {}
void SphericParticle::CalculateMassMatrix(MatrixType& rMassMatrix, const ProcessInfo& r_process_info)
{
rMassMatrix(0,0) = GetMass();
}
void SphericParticle::EvaluateDeltaDisplacement(ParticleDataBuffer & data_buffer,
double RelDeltDisp[3],
double RelVel[3],
double LocalCoordSystem[3][3],
double OldLocalCoordSystem[3][3],
const array_1d<double, 3>& vel,
const array_1d<double, 3>& delta_displ)
{
// FORMING LOCAL COORDINATES
// Notes: Since we will normally inherit the mesh from GiD, we respect the global system X,Y,Z [0],[1],[2]
// In the local coordinates we will define the normal direction of the contact as the [2] component.
// Compression is positive.
GeometryFunctions::ComputeContactLocalCoordSystem(data_buffer.mOtherToMeVector, data_buffer.mDistance, LocalCoordSystem); //new Local Coordinate System (normalizes data_buffer.mOtherToMeVector)
// FORMING OLD LOCAL COORDINATES
array_1d<double, 3> old_coord_target;
noalias(old_coord_target) = this->GetGeometry()[0].Coordinates() - delta_displ;
const array_1d<double, 3>& other_delta_displ = data_buffer.mpOtherParticleNode->FastGetSolutionStepValue(DELTA_DISPLACEMENT);
array_1d<double, 3> old_coord_neigh;
noalias(old_coord_neigh) = data_buffer.mpOtherParticleNode->Coordinates() - other_delta_displ;
if (data_buffer.mDomainIsPeriodic){ // the domain is periodic
TransformNeighbourCoorsToClosestInPeriodicDomain(data_buffer, old_coord_target, old_coord_neigh);
}
array_1d<double, 3> old_other_to_me_vect;
noalias(old_other_to_me_vect) = old_coord_target - old_coord_neigh;
const double old_distance = DEM_MODULUS_3(old_other_to_me_vect);
GeometryFunctions::ComputeContactLocalCoordSystem(old_other_to_me_vect, old_distance, OldLocalCoordSystem); //Old Local Coordinate System
// VELOCITIES AND DISPLACEMENTS
const array_1d<double, 3 >& other_vel = data_buffer.mpOtherParticleNode->FastGetSolutionStepValue(VELOCITY);
RelVel[0] = (vel[0] - other_vel[0]);
RelVel[1] = (vel[1] - other_vel[1]);
RelVel[2] = (vel[2] - other_vel[2]);
// DeltDisp in global coordinates
RelDeltDisp[0] = (delta_displ[0] - other_delta_displ[0]);
RelDeltDisp[1] = (delta_displ[1] - other_delta_displ[1]);
RelDeltDisp[2] = (delta_displ[2] - other_delta_displ[2]);
}
void SphericParticle::RelativeDisplacementAndVelocityOfContactPointDueToRotation(const double indentation,
double RelDeltDisp[3],
double RelVel[3],
const double LocalCoordSystem[3][3],
const double& other_radius,
const double& dt,
const array_1d<double, 3>& my_ang_vel,
SphericParticle* p_neighbour)
{
const array_1d<double, 3>& my_delta_rotation = GetGeometry()[0].FastGetSolutionStepValue(DELTA_ROTATION);
const auto& neighbour_node = p_neighbour->GetGeometry()[0];
const array_1d<double, 3>& other_ang_vel = neighbour_node.FastGetSolutionStepValue(ANGULAR_VELOCITY);
const array_1d<double, 3>& other_delta_rotation = neighbour_node.FastGetSolutionStepValue(DELTA_ROTATION);
array_1d<double, 3> my_arm_vector;
array_1d<double, 3> other_arm_vector;
array_1d<double, 3> my_vel_at_contact_point_due_to_rotation;
array_1d<double, 3> other_vel_at_contact_point_due_to_rotation;
array_1d<double, 3> my_delta_disp_at_contact_point_due_to_rotation;
array_1d<double, 3> other_delta_disp_at_contact_point_due_to_rotation;
const double other_young = p_neighbour->GetYoung();
const double my_young = GetYoung();
const double inverse_of_sum_of_youngs = 1.0 / (other_young + my_young);
const double my_arm_length = GetInteractionRadius() - indentation * other_young * inverse_of_sum_of_youngs;
const double other_arm_length = other_radius - indentation * my_young * inverse_of_sum_of_youngs;
my_arm_vector[0] = -LocalCoordSystem[2][0] * my_arm_length;
my_arm_vector[1] = -LocalCoordSystem[2][1] * my_arm_length;
my_arm_vector[2] = -LocalCoordSystem[2][2] * my_arm_length;
GeometryFunctions::CrossProduct(my_ang_vel, my_arm_vector, my_vel_at_contact_point_due_to_rotation);
other_arm_vector[0] = LocalCoordSystem[2][0] * other_arm_length;
other_arm_vector[1] = LocalCoordSystem[2][1] * other_arm_length;
other_arm_vector[2] = LocalCoordSystem[2][2] * other_arm_length;
GeometryFunctions::CrossProduct(other_ang_vel, other_arm_vector, other_vel_at_contact_point_due_to_rotation);
RelVel[0] += my_vel_at_contact_point_due_to_rotation[0] - other_vel_at_contact_point_due_to_rotation[0];
RelVel[1] += my_vel_at_contact_point_due_to_rotation[1] - other_vel_at_contact_point_due_to_rotation[1];
RelVel[2] += my_vel_at_contact_point_due_to_rotation[2] - other_vel_at_contact_point_due_to_rotation[2];
GeometryFunctions::CrossProduct(my_delta_rotation, my_arm_vector, my_delta_disp_at_contact_point_due_to_rotation);
GeometryFunctions::CrossProduct(other_delta_rotation, other_arm_vector, other_delta_disp_at_contact_point_due_to_rotation);
// Contribution of the rotation
RelDeltDisp[0] += my_delta_disp_at_contact_point_due_to_rotation[0] - other_delta_disp_at_contact_point_due_to_rotation[0];
RelDeltDisp[1] += my_delta_disp_at_contact_point_due_to_rotation[1] - other_delta_disp_at_contact_point_due_to_rotation[1];
RelDeltDisp[2] += my_delta_disp_at_contact_point_due_to_rotation[2] - other_delta_disp_at_contact_point_due_to_rotation[2];
}
void SphericParticle::RelativeDisplacementAndVelocityOfContactPointDueToRotationMatrix(double DeltDisp[3],
double RelVel[3],
const double OldLocalCoordSystem[3][3],
const double& other_radius,
const double& dt,
const array_1d<double, 3>& angular_vel,
SphericParticle* p_neighbour)
{
const auto& central_node = GetGeometry()[0];
const array_1d<double, 3>& my_delta_rotation = central_node.FastGetSolutionStepValue(DELTA_ROTATION);
const auto& neighbour_node = p_neighbour->GetGeometry()[0];
const array_1d<double, 3>& neigh_angular_vel = neighbour_node.FastGetSolutionStepValue(ANGULAR_VELOCITY);
const array_1d<double, 3>& other_delta_rotation = neighbour_node.FastGetSolutionStepValue(DELTA_ROTATION);
const double other_young = p_neighbour->GetYoung();
const double my_young = GetYoung();
const double my_rotated_angle = DEM_MODULUS_3(my_delta_rotation);
const double other_rotated_angle = DEM_MODULUS_3(other_delta_rotation);
const array_1d<double, 3>& coors = central_node.Coordinates();
array_1d<double, 3> neigh_coors = neighbour_node.Coordinates();
const array_1d<double, 3> other_to_me_vect = coors - neigh_coors;
const double distance = DEM_MODULUS_3(other_to_me_vect);
const double radius_sum = GetInteractionRadius() + other_radius;
const double indentation = radius_sum - distance;
const double arm = GetInteractionRadius() - indentation * other_young / (other_young + my_young);
array_1d<double, 3> e1;
DEM_COPY_SECOND_TO_FIRST_3(e1, OldLocalCoordSystem[2]);
DEM_MULTIPLY_BY_SCALAR_3(e1, -arm);
array_1d<double, 3> new_axes1 = e1;
const double other_arm = other_radius - indentation * my_young / (other_young + my_young);
array_1d<double, 3> e2;
DEM_COPY_SECOND_TO_FIRST_3(e2, OldLocalCoordSystem[2]);
DEM_MULTIPLY_BY_SCALAR_3(e2, other_arm);
array_1d<double, 3> new_axes2 = e2;
if (my_rotated_angle) {
array_1d<double, 3> axis_1;
axis_1[0] = my_delta_rotation[0] / my_rotated_angle;
axis_1[1] = my_delta_rotation[1] / my_rotated_angle;
axis_1[2] = my_delta_rotation[2] / my_rotated_angle;
GeometryFunctions::RotateAVectorAGivenAngleAroundAUnitaryVector(e1, axis_1, my_rotated_angle, new_axes1);
} //if my_rotated_angle
if (other_rotated_angle) {
array_1d<double, 3> axis_2;
axis_2[0] = other_delta_rotation[0] / other_rotated_angle;
axis_2[1] = other_delta_rotation[1] / other_rotated_angle;
axis_2[2] = other_delta_rotation[2] / other_rotated_angle;
GeometryFunctions::RotateAVectorAGivenAngleAroundAUnitaryVector(e2, axis_2, other_rotated_angle, new_axes2);
} //if other_rotated_angle
array_1d<double, 3> radial_vector = - other_to_me_vect;
array_1d<double, 3> other_radial_vector = other_to_me_vect;
GeometryFunctions::normalize(radial_vector);
GeometryFunctions::normalize(other_radial_vector);
radial_vector *= arm;
other_radial_vector *= other_arm;
array_1d<double, 3> vel = ZeroVector(3);
array_1d<double, 3> other_vel = ZeroVector(3);
GeometryFunctions::CrossProduct(angular_vel, radial_vector, vel);
GeometryFunctions::CrossProduct(neigh_angular_vel, other_radial_vector, other_vel);
RelVel[0] += vel[0] - other_vel[0];
RelVel[1] += vel[1] - other_vel[1];
RelVel[2] += vel[2] - other_vel[2];
// Contribution of the rotation velocity
DeltDisp[0] += (new_axes1[0] - new_axes2[0]) + (e2[0] - e1[0]);
DeltDisp[1] += (new_axes1[1] - new_axes2[1]) + (e2[1] - e1[1]);
DeltDisp[2] += (new_axes1[2] - new_axes2[2]) + (e2[2] - e1[2]);
}
void SphericParticle::RelativeDisplacementAndVelocityOfContactPointDueToRotationQuaternion(double RelDeltDisp[3],
double RelVel[3],
const double OldLocalCoordSystem[3][3],
const double& other_radius,
const double& dt,
const array_1d<double, 3>& my_ang_vel,
SphericParticle* p_neighbour,
ParticleDataBuffer & data_buffer)
{
const auto& central_node = GetGeometry()[0];
const auto& neighbour_node = p_neighbour->GetGeometry()[0];
const array_1d<double, 3>& other_ang_vel = neighbour_node.FastGetSolutionStepValue(ANGULAR_VELOCITY);
const array_1d<double, 3>& my_delta_rotation = central_node.FastGetSolutionStepValue(DELTA_ROTATION);
const array_1d<double, 3>& other_delta_rotation = neighbour_node.FastGetSolutionStepValue(DELTA_ROTATION);
array_1d<double, 3> my_arm_vector;
array_1d<double, 3> other_arm_vector;
array_1d<double, 3> my_new_arm_vector;
array_1d<double, 3> other_new_arm_vector;
array_1d<double, 3> my_vel_at_contact_point_due_to_rotation;
array_1d<double, 3> other_vel_at_contact_point_due_to_rotation;
const double other_young = p_neighbour->GetYoung();
const double my_young = GetYoung();
const array_1d<double, 3>& coors = central_node.Coordinates();
array_1d<double, 3> neigh_coors = neighbour_node.Coordinates();
if (data_buffer.mDomainIsPeriodic){
TransformNeighbourCoorsToClosestInPeriodicDomain(data_buffer, coors, neigh_coors);
}
const array_1d<double, 3> other_to_me_vect = coors - neigh_coors;
const double distance = DEM_MODULUS_3(other_to_me_vect);
const double radius_sum = GetInteractionRadius() + other_radius;
const double indentation = radius_sum - distance;
const double my_arm_length = GetInteractionRadius() - indentation * other_young / (other_young + my_young);
const double other_arm_length = other_radius - indentation * my_young / (other_young + my_young);
my_arm_vector[0] = -OldLocalCoordSystem[2][0] * my_arm_length;
my_arm_vector[1] = -OldLocalCoordSystem[2][1] * my_arm_length;
my_arm_vector[2] = -OldLocalCoordSystem[2][2] * my_arm_length;
GeometryFunctions::CrossProduct(my_ang_vel, my_arm_vector, my_vel_at_contact_point_due_to_rotation);
other_arm_vector[0] = OldLocalCoordSystem[2][0] * other_arm_length;
other_arm_vector[1] = OldLocalCoordSystem[2][1] * other_arm_length;
other_arm_vector[2] = OldLocalCoordSystem[2][2] * other_arm_length;
GeometryFunctions::CrossProduct(other_ang_vel, other_arm_vector, other_vel_at_contact_point_due_to_rotation);
RelVel[0] += my_vel_at_contact_point_due_to_rotation[0] - other_vel_at_contact_point_due_to_rotation[0];
RelVel[1] += my_vel_at_contact_point_due_to_rotation[1] - other_vel_at_contact_point_due_to_rotation[1];
RelVel[2] += my_vel_at_contact_point_due_to_rotation[2] - other_vel_at_contact_point_due_to_rotation[2];
Quaternion<double> MyDeltaOrientation = Quaternion<double>::Identity();
Quaternion<double> OtherDeltaOrientation = Quaternion<double>::Identity();
GeometryFunctions::OrientationFromRotationAngle(MyDeltaOrientation, my_delta_rotation);
GeometryFunctions::OrientationFromRotationAngle(OtherDeltaOrientation, other_delta_rotation);
MyDeltaOrientation.RotateVector3(my_arm_vector, my_new_arm_vector);
OtherDeltaOrientation.RotateVector3(other_arm_vector, other_new_arm_vector);
// Contribution of the rotation
RelDeltDisp[0] += (my_new_arm_vector[0] - other_new_arm_vector[0]) + (other_arm_vector[0] - my_arm_vector[0]);
RelDeltDisp[1] += (my_new_arm_vector[1] - other_new_arm_vector[1]) + (other_arm_vector[1] - my_arm_vector[1]);
RelDeltDisp[2] += (my_new_arm_vector[2] - other_new_arm_vector[2]) + (other_arm_vector[2] - my_arm_vector[2]);
}
void SphericParticle::ComputeMoments(double NormalLocalContactForce,
double Force[3],
double LocalCoordSystem2[3],
SphericParticle* p_neighbour,
double indentation,
unsigned int i)
{
const double other_young = p_neighbour->GetYoung();
const double arm_length = GetInteractionRadius() - indentation * other_young / (other_young + GetYoung());
array_1d<double, 3> arm_vector;
arm_vector[0] = -LocalCoordSystem2[0] * arm_length;
arm_vector[1] = -LocalCoordSystem2[1] * arm_length;
arm_vector[2] = -LocalCoordSystem2[2] * arm_length;
array_1d<double, 3> moment_of_this_neighbour;
GeometryFunctions::CrossProduct(arm_vector, Force, moment_of_this_neighbour);
noalias(mContactMoment) += moment_of_this_neighbour;
}
void SphericParticle::ComputeMomentsWithWalls(double NormalLocalContactForce,
double Force[3],
double LocalCoordSystem2[3],
Condition* wall,
double indentation,
unsigned int i)
{
double arm_length = GetInteractionRadius() - indentation;
array_1d<double, 3> arm_vector;
arm_vector[0] = -LocalCoordSystem2[0] * arm_length;
arm_vector[1] = -LocalCoordSystem2[1] * arm_length;
arm_vector[2] = -LocalCoordSystem2[2] * arm_length;
array_1d<double, 3> moment_of_this_neighbour;
GeometryFunctions::CrossProduct(arm_vector, Force, moment_of_this_neighbour);
noalias(mContactMoment) += moment_of_this_neighbour;
}
void SphericParticle::ComputeBallToBallContactForceAndMoment(SphericParticle::ParticleDataBuffer & data_buffer,
const ProcessInfo& r_process_info,
array_1d<double, 3>& r_elastic_force,
array_1d<double, 3>& r_contact_force)
{
KRATOS_TRY
NodeType& this_node = GetGeometry()[0];
DEM_COPY_SECOND_TO_FIRST_3(data_buffer.mMyCoors, this_node)
//LOOP OVER NEIGHBORS:
for (int i = 0; data_buffer.SetNextNeighbourOrExit(i); ++i){
if (CalculateRelativePositionsOrSkipContact(data_buffer)) {
DEM_SET_COMPONENTS_TO_ZERO_3x3(data_buffer.mLocalCoordSystem)
DEM_SET_COMPONENTS_TO_ZERO_3x3(data_buffer.mOldLocalCoordSystem)
double DeltDisp[3] = {0.0};
double LocalDeltDisp[3] = {0.0};
double RelVel[3] = {0.0};
double LocalContactForce[3] = {0.0};
double GlobalContactForce[3] = {0.0};
double LocalElasticContactForce[3] = {0.0};
double LocalElasticExtraContactForce[3] = {0.0};
double GlobalElasticContactForce[3] = {0.0};
double GlobalElasticExtraContactForce[3] = {0.0};
double TotalGlobalElasticContactForce[3] = {0.0};
double ViscoDampingLocalContactForce[3] = {0.0};
double cohesive_force = 0.0;
bool sliding = false;
const array_1d<double, 3>& velocity = this_node.FastGetSolutionStepValue(VELOCITY);
const array_1d<double, 3>& delta_displ = this_node.FastGetSolutionStepValue(DELTA_DISPLACEMENT);
const array_1d<double, 3>& ang_velocity = this_node.FastGetSolutionStepValue(ANGULAR_VELOCITY);
EvaluateDeltaDisplacement(data_buffer, DeltDisp, RelVel, data_buffer.mLocalCoordSystem, data_buffer.mOldLocalCoordSystem, velocity, delta_displ);
if (this->Is(DEMFlags::HAS_ROTATION)) {
RelativeDisplacementAndVelocityOfContactPointDueToRotationQuaternion(DeltDisp, RelVel, data_buffer.mLocalCoordSystem, data_buffer.mOtherRadius, data_buffer.mDt, ang_velocity, data_buffer.mpOtherParticle, data_buffer);
}
RelativeDisplacementAndVelocityOfContactPointDueToOtherReasons(r_process_info, DeltDisp, RelVel, data_buffer.mOldLocalCoordSystem, data_buffer.mLocalCoordSystem, data_buffer.mpOtherParticle);
EvaluateBallToBallForcesForPositiveIndentiations(data_buffer,
r_process_info,
LocalElasticContactForce,
DeltDisp,
LocalDeltDisp,
RelVel,
data_buffer.mIndentation,
ViscoDampingLocalContactForce,
cohesive_force,
data_buffer.mpOtherParticle,
sliding,
data_buffer.mLocalCoordSystem,
data_buffer.mOldLocalCoordSystem,
mNeighbourElasticContactForces[i]);
array_1d<double, 3> other_ball_to_ball_forces = ZeroVector(3);
ComputeOtherBallToBallForces(other_ball_to_ball_forces); //These forces can exist even with no indentation.
// Transforming to global forces and adding up
AddUpForcesAndProject(data_buffer.mOldLocalCoordSystem, data_buffer.mLocalCoordSystem, LocalContactForce, LocalElasticContactForce, LocalElasticExtraContactForce, GlobalContactForce,
GlobalElasticContactForce, GlobalElasticExtraContactForce, TotalGlobalElasticContactForce, ViscoDampingLocalContactForce, cohesive_force, other_ball_to_ball_forces, r_elastic_force, r_contact_force, i, r_process_info);
//TODO: make different AddUpForces for continuum and discontinuum (different arguments, different operations!)
// ROTATION FORCES AND ROLLING FRICTION
if (this->Is(DEMFlags::HAS_ROTATION) && !data_buffer.mMultiStageRHS) {
ComputeMoments(LocalContactForce[2], GlobalContactForce, data_buffer.mLocalCoordSystem[2], data_buffer.mpOtherParticle, data_buffer.mIndentation, i);
if (this->Is(DEMFlags::HAS_ROLLING_FRICTION) && !data_buffer.mMultiStageRHS) {
if (mRollingFrictionModel->CheckIfThisModelRequiresRecloningForEachNeighbour()){
mRollingFrictionModel = pCloneRollingFrictionModelWithNeighbour(data_buffer.mpOtherParticle);
mRollingFrictionModel->ComputeRollingFriction(this, data_buffer.mpOtherParticle, r_process_info, LocalContactForce, data_buffer.mIndentation, mContactMoment);
}
else {
mRollingFrictionModel->ComputeRollingResistance(this, data_buffer.mpOtherParticle, LocalContactForce);
}
}
}
if (this->Is(DEMFlags::HAS_STRESS_TENSOR)) {
AddNeighbourContributionToStressTensor(r_process_info, GlobalContactForce, data_buffer.mLocalCoordSystem[2], data_buffer.mDistance, data_buffer.mRadiusSum, this);
}
if (r_process_info[IS_TIME_TO_PRINT] && r_process_info[CONTACT_MESH_OPTION] == 1) { //TODO: we should avoid calling a processinfo for each neighbour. We can put it once per time step in the buffer??
unsigned int neighbour_iterator_id = data_buffer.mpOtherParticle->Id();
if ((i < (int)mNeighbourElements.size()) && this->Id() < neighbour_iterator_id) {
CalculateOnContactElements(i, LocalContactForce, GlobalContactForce);
}
} else if (r_process_info[IS_TIME_TO_UPDATE_CONTACT_ELEMENT] && r_process_info[CONTACT_MESH_OPTION] == 1) {
unsigned int neighbour_iterator_id = data_buffer.mpOtherParticle->Id();
if ((i < (int)mNeighbourElements.size()) && this->Id() < neighbour_iterator_id) {
CalculateOnContactElements(i, LocalContactForce, GlobalContactForce);
}
}
if (r_process_info[ENERGY_CALCULATION_OPTION]){
double NormalBallToBallForceTimesRadius = this->GetRadius() * LocalContactForce[2];
if ( NormalBallToBallForceTimesRadius > mMaxNormalBallToBallForceTimesRadius) {
mMaxNormalBallToBallForceTimesRadius = NormalBallToBallForceTimesRadius;
}
}
// Store contact information needed for later processes
StoreBallToBallContactInfo(r_process_info, data_buffer, GlobalContactForce, LocalContactForce, ViscoDampingLocalContactForce, sliding);
DEM_SET_COMPONENTS_TO_ZERO_3(DeltDisp)
DEM_SET_COMPONENTS_TO_ZERO_3(LocalDeltDisp)
DEM_SET_COMPONENTS_TO_ZERO_3(RelVel)
DEM_SET_COMPONENTS_TO_ZERO_3x3(data_buffer.mLocalCoordSystem)
DEM_SET_COMPONENTS_TO_ZERO_3x3(data_buffer.mOldLocalCoordSystem)
#ifdef KRATOS_DEBUG
DemDebugFunctions::CheckIfNan(GlobalContactForce, "NAN in Force in Ball to Ball contact");
DemDebugFunctions::CheckIfNan(mContactMoment, "NAN in Torque in Ball to Ball contact");
#endif
}
}// for each neighbor
KRATOS_CATCH("")
}// ComputeBallToBallContactForceAndMoment
void SphericParticle::EvaluateBallToBallForcesForPositiveIndentiations(SphericParticle::ParticleDataBuffer & data_buffer,
const ProcessInfo& r_process_info,
double LocalElasticContactForce[3],
double DeltDisp[3],
double LocalDeltDisp[3],
double RelVel[3],
const double indentation,
double ViscoDampingLocalContactForce[3],
double& cohesive_force,
SphericParticle* p_neighbour_element,
bool& sliding,
double LocalCoordSystem[3][3],
double OldLocalCoordSystem[3][3],
array_1d<double, 3>& neighbour_elastic_contact_force)
{
double OldLocalElasticContactForce[3] = {0.0};
RotateOldContactForces(OldLocalCoordSystem, LocalCoordSystem, neighbour_elastic_contact_force);// still in global coordinates
// Here we recover the old local forces projected in the new coordinates in the way they were in the old ones; Now they will be increased if necessary
GeometryFunctions::VectorGlobal2Local(LocalCoordSystem, neighbour_elastic_contact_force, OldLocalElasticContactForce);
GeometryFunctions::VectorGlobal2Local(LocalCoordSystem, DeltDisp, LocalDeltDisp);
const double previous_indentation = indentation + LocalDeltDisp[2];
data_buffer.mLocalRelVel[0] = 0.0;
data_buffer.mLocalRelVel[1] = 0.0;
data_buffer.mLocalRelVel[2] = 0.0;
GeometryFunctions::VectorGlobal2Local(LocalCoordSystem, RelVel, data_buffer.mLocalRelVel);
mDiscontinuumConstitutiveLaw = pCloneDiscontinuumConstitutiveLawWithNeighbour(p_neighbour_element);
mDiscontinuumConstitutiveLaw->CalculateForces(r_process_info, OldLocalElasticContactForce,
LocalElasticContactForce, LocalDeltDisp, data_buffer.mLocalRelVel, indentation, previous_indentation,
ViscoDampingLocalContactForce, cohesive_force, this, p_neighbour_element, sliding, LocalCoordSystem);
}
void SphericParticle::ComputeBallToRigidFaceContactForceAndMoment(SphericParticle::ParticleDataBuffer & data_buffer,
array_1d<double, 3>& r_elastic_force,
array_1d<double, 3>& r_contact_force,
array_1d<double, 3>& rigid_element_force,
const ProcessInfo& r_process_info)
{
KRATOS_TRY
RenewData();
const auto& central_node = GetGeometry()[0];
std::vector<DEMWall*>& rNeighbours = this->mNeighbourRigidFaces;
const array_1d<double, 3>& velocity = GetGeometry()[0].FastGetSolutionStepValue(VELOCITY);
const array_1d<double,3>& AngularVel = GetGeometry()[0].FastGetSolutionStepValue(ANGULAR_VELOCITY);
for (unsigned int i = 0; i < rNeighbours.size(); i++) {
DEMWall* wall = rNeighbours[i];
if (wall == NULL)
continue;
else
data_buffer.mpOtherRigidFace = wall;
if(this->Is(DEMFlags::STICKY)) {
DEMIntegrationScheme& dem_scheme = this->GetTranslationalIntegrationScheme();
GluedToWallScheme* p_glued_scheme = dynamic_cast<GluedToWallScheme*>(&dem_scheme);
Condition* p_condition = p_glued_scheme->pGetCondition();
if(p_condition == wall) continue;
}
if(wall->IsPhantom()){
wall->CheckSide(this);
continue;
}
double LocalElasticContactForce[3] = {0.0};
double GlobalElasticContactForce[3] = {0.0};
double ViscoDampingLocalContactForce[3] = {0.0};
double cohesive_force = 0.0;
DEM_SET_COMPONENTS_TO_ZERO_3x3(data_buffer.mLocalCoordSystem)
DEM_SET_COMPONENTS_TO_ZERO_3x3(data_buffer.mOldLocalCoordSystem)