Signed distance field-based contact solver. More...

#include <solver_sdf_pp.hpp>

Inheritance diagram for netdem::SolverSDFPP:

Public Types
enum	PotentialType { linear , hertz }
	An enumeration of potential types used by the solver. More...

Public Member Functions
	SolverSDFPP ()
	Default constructor for the SolverSDFPP class.

	SolverSDFPP (Particle const p1, Particle const p2)
	Constructor for the SolverSDFPP class.

CollisionSolverPP *	Clone () const override
	Creates a copy of the current collision solver.

void	Init (Particle const p1, Particle const p2) override
	Initializes the collision solver with two particles.

bool	Detect () override
	Detects collisions between particles.

void	ResolveInit (ContactPP *const cnt, double timestep) override
	Initializes the contact resolution for a contact point.

void	ResolveUpdate (ContactPP *const cnt, double timestep) override
	Updates the contact resolution for a contact point.

void	ResolveInit (CollisionGeometries *const cnt_geoms, double timestep)
	Initializes the contact resolution for a set of collision geometries.

void	ResolveUpdate (CollisionGeometries *const cnt_geoms, double timestep)
	Updates the contact resolution for a set of collision geometries.

void	ResolveInitP2ToP1 (CollisionGeometries *const cnt_geoms, double timestep)
	Initializes the contact resolution from particle 2 to particle 1.

void	ResolveUpdateP2ToP1 (CollisionGeometries *const cnt_geoms, double timestep)
	Updates the contact resolution from particle 2 to particle 1.

void	ResolveInitP1ToP2 (CollisionGeometries *const cnt_geoms, double timestep)
	Initializes the contact resolution from particle 1 to particle 2.

void	ResolveUpdateP1ToP2 (CollisionGeometries *const cnt_geoms, double timestep)
	Updates the contact resolution from particle 1 to particle 2.

double	GetPotential (double dist, double node_area, double size_eq, double size_ratio)
	Calculates the potential energy of a contact point.

Public Member Functions inherited from netdem::CollisionSolverPP
	CollisionSolverPP ()

	CollisionSolverPP (Particle const p1, Particle const p2)

virtual bool	Detect (ContactPP *const cnt)

virtual	~CollisionSolverPP ()

Static Public Member Functions
static double	KiToKn (double ki, double size_eq, double size_ratio)

static double	KiFromKn (double kn, double size_eq, double size_ratio)

static double	KiToEstar (double ki, double size_eq, double size_ratio)

static double	KiFromEstar (double Estar, double size_eq, double size_ratio)

Public Attributes
int	potential_type {PotentialType::linear}
	Whether to solve both sides of the collision.

bool	solve_two_sides {false}

bool	use_equivalent_stiffness {true}

double	beta {0.65}

Public Attributes inherited from netdem::CollisionSolverPP
Particle *	particle_1 {nullptr}

Particle *	particle_2 {nullptr}

Additional Inherited Members
Protected Member Functions inherited from netdem::CollisionSolverPP
void	InitBasicGeoms (CollisionGeometries *const cnt_geoms, double timestep)

void	UpdateBasicGeoms (CollisionGeometries *const cnt_geoms, double timestep, Vec3d const &dir_n_old)
	Update the basic contact geometries associated with a collision.

Detailed Description

Signed distance field-based contact solver.

This class is a collision solver that uses signed distance fields to detect and resolve collisions between particles with different shapes. It extends the CollisionSolverPP class.

Examples: 00_contact_test_sphere.cpp, 01_contact_test_trimesh.cpp, 03_friction_test_sphere.cpp, 04_friction_test_trimesh.cpp, 10_contact_test_sphere.cpp, and 11_contact_test_trimesh.cpp.

Member Enumeration Documentation

◆ PotentialType

enum netdem::SolverSDFPP::PotentialType

An enumeration of potential types used by the solver.

The potential type determines the shape of the contact force applied by the solver. The available options are linear and Hertz potentials.

Enumerator
linear
hertz

Constructor & Destructor Documentation

◆ SolverSDFPP() [1/2]

netdem::SolverSDFPP::SolverSDFPP ( )

Default constructor for the SolverSDFPP class.

◆ SolverSDFPP() [2/2]

netdem::SolverSDFPP::SolverSDFPP	(	Particle *const	p1,
		Particle *const	p2 )

Constructor for the SolverSDFPP class.

Parameters

p1	The first particle involved in the collision.
p2	The second particle involved in the collision.

Member Function Documentation

◆ Clone()

CollisionSolverPP * netdem::SolverSDFPP::Clone ( ) const

overridevirtual

Creates a copy of the current collision solver.

Returns: A pointer to the cloned CollisionSolverPP object.

Implements netdem::CollisionSolverPP.

◆ Detect()

bool netdem::SolverSDFPP::Detect ( )

overridevirtual

Detects collisions between particles.

Returns: True if a collision is detected, false otherwise.

Implements netdem::CollisionSolverPP.

Examples: 00_contact_test_sphere.cpp, 01_contact_test_trimesh.cpp, 03_friction_test_sphere.cpp, 04_friction_test_trimesh.cpp, 10_contact_test_sphere.cpp, and 11_contact_test_trimesh.cpp.

◆ GetPotential()

double netdem::SolverSDFPP::GetPotential	(	double	dist,
		double	node_area,
		double	size_eq,
		double	size_ratio )

Calculates the potential energy of a contact point.

Parameters

dist	The signed distance between the particles at the contact point.
node_area	The surface area associated with the node.
size_eq	The equivalent size of the shape.

Returns: The potential energy of the contact point.

◆ Init()

void netdem::SolverSDFPP::Init	(	Particle *const	p1,
		Particle *const	p2 )

overridevirtual

Initializes the collision solver with two particles.

Parameters

p1	The first particle involved in the collision.
p2	The second particle involved in the collision.

Reimplemented from netdem::CollisionSolverPP.

Examples: 00_contact_test_sphere.cpp, 01_contact_test_trimesh.cpp, 03_friction_test_sphere.cpp, 04_friction_test_trimesh.cpp, 10_contact_test_sphere.cpp, and 11_contact_test_trimesh.cpp.

◆ KiFromEstar()

double netdem::SolverSDFPP::KiFromEstar	(	double	Estar,
		double	size_eq,
		double	size_ratio )

static

◆ KiFromKn()

double netdem::SolverSDFPP::KiFromKn	(	double	kn,
		double	size_eq,
		double	size_ratio )

static

◆ KiToEstar()

double netdem::SolverSDFPP::KiToEstar	(	double	ki,
		double	size_eq,
		double	size_ratio )

static

◆ KiToKn()

double netdem::SolverSDFPP::KiToKn	(	double	ki,
		double	size_eq,
		double	size_ratio )

static

◆ ResolveInit() [1/2]

void netdem::SolverSDFPP::ResolveInit	(	CollisionGeometries *const	cnt_geoms,
		double	timestep )

Initializes the contact resolution for a set of collision geometries.

Parameters

cnt_geoms	The collision geometries to resolve.
timestep	The simulation time step size.

◆ ResolveInit() [2/2]

void netdem::SolverSDFPP::ResolveInit	(	ContactPP *const	cnt,
		double	timestep )

overridevirtual

Initializes the contact resolution for a contact point.

Parameters

cnt	The contact point to resolve.
timestep	The simulation time step size.

Implements netdem::CollisionSolverPP.

Examples: 00_contact_test_sphere.cpp, 01_contact_test_trimesh.cpp, 03_friction_test_sphere.cpp, 04_friction_test_trimesh.cpp, 10_contact_test_sphere.cpp, and 11_contact_test_trimesh.cpp.

◆ ResolveInitP1ToP2()

void netdem::SolverSDFPP::ResolveInitP1ToP2	(	CollisionGeometries *const	cnt_geoms,
		double	timestep )

Initializes the contact resolution from particle 1 to particle 2.

Parameters

cnt_geoms	The collision geometries to resolve.
timestep	The simulation time step size.

◆ ResolveInitP2ToP1()

void netdem::SolverSDFPP::ResolveInitP2ToP1	(	CollisionGeometries *const	cnt_geoms,
		double	timestep )

Initializes the contact resolution from particle 2 to particle 1.

Parameters

cnt_geoms	The collision geometries to resolve.
timestep	The simulation time step size.

◆ ResolveUpdate() [1/2]

void netdem::SolverSDFPP::ResolveUpdate	(	CollisionGeometries *const	cnt_geoms,
		double	timestep )

Updates the contact resolution for a set of collision geometries.

Parameters

cnt_geoms	The collision geometries to resolve.
timestep	The simulation time step size.

◆ ResolveUpdate() [2/2]

void netdem::SolverSDFPP::ResolveUpdate	(	ContactPP *const	cnt,
		double	timestep )

overridevirtual

Updates the contact resolution for a contact point.

Parameters

cnt	The contact point to resolve.
timestep	The simulation time step size.

Implements netdem::CollisionSolverPP.

Examples: 00_contact_test_sphere.cpp, 01_contact_test_trimesh.cpp, 03_friction_test_sphere.cpp, 04_friction_test_trimesh.cpp, 10_contact_test_sphere.cpp, and 11_contact_test_trimesh.cpp.

◆ ResolveUpdateP1ToP2()

void netdem::SolverSDFPP::ResolveUpdateP1ToP2	(	CollisionGeometries *const	cnt_geoms,
		double	timestep )

Updates the contact resolution from particle 1 to particle 2.

Parameters

cnt_geoms	The collision geometries to resolve.
timestep	The simulation time step size.

◆ ResolveUpdateP2ToP1()

void netdem::SolverSDFPP::ResolveUpdateP2ToP1	(	CollisionGeometries *const	cnt_geoms,
		double	timestep )

Updates the contact resolution from particle 2 to particle 1.

Parameters

cnt_geoms	The collision geometries to resolve.
timestep	The simulation time step size.

Member Data Documentation

◆ beta

double netdem::SolverSDFPP::beta {0.65}

◆ potential_type

int netdem::SolverSDFPP::potential_type {PotentialType::linear}

Whether to solve both sides of the collision.

Examples: 00_contact_test_sphere.cpp, 01_contact_test_trimesh.cpp, 03_friction_test_sphere.cpp, 04_friction_test_trimesh.cpp, 10_contact_test_sphere.cpp, and 11_contact_test_trimesh.cpp.

◆ solve_two_sides

bool netdem::SolverSDFPP::solve_two_sides {false}

Whether to auto convert the model stiffness parameter, such that it is identical to those in conventional linear or Hertz contact.

◆ use_equivalent_stiffness

bool netdem::SolverSDFPP::use_equivalent_stiffness {true}

Examples: 00_contact_test_sphere.cpp, 01_contact_test_trimesh.cpp, 03_friction_test_sphere.cpp, and 04_friction_test_trimesh.cpp.

The documentation for this class was generated from the following files:

/Users/lzhshou/Documents/Research/myProjects/apaam/repo/netdem/src/dem/solver_sdf_pp.hpp
/Users/lzhshou/Documents/Research/myProjects/apaam/repo/netdem/src/dem/solver_sdf_pp.cpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ PotentialType

Constructor & Destructor Documentation

◆ SolverSDFPP() [1/2]

◆ SolverSDFPP() [2/2]

Member Function Documentation

◆ Clone()

◆ Detect()

◆ GetPotential()

◆ Init()

◆ KiFromEstar()

◆ KiFromKn()

◆ KiToEstar()

◆ KiToKn()

◆ ResolveInit() [1/2]

◆ ResolveInit() [2/2]

◆ ResolveInitP1ToP2()

◆ ResolveInitP2ToP1()

◆ ResolveUpdate() [1/2]

◆ ResolveUpdate() [2/2]

◆ ResolveUpdateP1ToP2()

◆ ResolveUpdateP2ToP1()

Member Data Documentation

◆ beta

◆ potential_type

◆ solve_two_sides

◆ use_equivalent_stiffness