This class defines a coil in the z-direction from a (constant) starting point, a (constant) length L, a (constant) radius r, a (constant) number or revelations N and a (constant) rotation speed (rev/s) More...

#include <Coil.h>

Inheritance diagram for Coil:

Public Member Functions
	Coil ()
	Default constructor, sets a coil with default parameters. More...

	Coil (const Coil &other)
	Copy constructor, makes a coil with the same properties as the input Coil. More...

	Coil (Vec3D Start, Mdouble L, Mdouble r, Mdouble N, Mdouble omega, Mdouble thickness)
	Constructor in which all parameters are set. More...

	~Coil () override
	Default destructor. More...

void	set (Vec3D Start, Mdouble length, Mdouble radius, Mdouble numberOfRevelations, Mdouble omega, Mdouble thickness)
	Set all parameters of this Coil. More...

Coil *	copy () const override
	Copy this Coil and return a pointer to the copy, useful for polymorphism. More...

bool	getDistanceAndNormal (const BaseParticle &P, Mdouble &distance, Vec3D &normal_return) const override
	Compute the distance from the Coil for a given BaseParticle and return if there is a collision. If there is a collision, also return the normal vector of the interaction point. More...

void	move_time (Mdouble dt)
	Rotate the Coil for a period dt, so that the offset_ changes with omega_*dt. More...

void	read (std::istream &is) override
	Reads a Coil from an input stream, for example a restart file. More...

MERCURYDPM_DEPRECATED void	oldRead (std::istream &is)
	Reads an old-style Coil from an input stream, for example an old restart file. More...

void	write (std::ostream &os) const override
	Writes a Coil to an output stream, for example a restart file. More...

std::string	getName () const override
	Returns the name of the object, in this case the string "Coil". More...

Public Member Functions inherited from BaseWall
	BaseWall ()
	Default constructor. More...

	BaseWall (const BaseWall &w)
	Copy constructor. More...

	~BaseWall () override
	Default destructor. More...

virtual bool	getDistanceNormalOverlap (const BaseParticle &P, Mdouble &distance, Vec3D &normal_return, Mdouble &overlap) const

virtual bool	getDistanceNormalOverlapSuperquadric (const SuperQuadricParticle &p, Mdouble &distance, Vec3D &normal_return, Mdouble &overlap) const

virtual Vec3D	getFurthestPointSuperQuadric (const Vec3D &normalBodyFixed, const Vec3D &axes, Mdouble eps1, Mdouble eps2) const

virtual void	setHandler (WallHandler *handler)
	A function which sets the WallHandler for this BaseWall. More...

WallHandler *	getHandler () const
	A function which returns the WallHandler that handles this BaseWall. More...

void	setIndSpecies (unsigned int indSpecies) override
	Define the species of this wall using the index of the species in the SpeciesHandler in this DPMBase. More...

void	setSpecies (const ParticleSpecies *species)
	Defines the species of the current wall. More...

bool	isFixed () const override

void	setForceControl (Vec3D forceGoal, Vec3D gainFactor, Vec3D baseVelocity={0, 0, 0})
	Slowly adjusts the force on a wall towards a specified goal, by adjusting (prescribing) the velocity of the wall. More...

virtual bool	isLocal (Vec3D &min, Vec3D &max) const

bool	getLinePlaneIntersect (Vec3D &intersect, const Vec3D &p0, const Vec3D &p1, const Vec3D &n, const Vec3D &p)

bool	isInsideWallVTK (const Vec3D &point, const Vec3D &normal, const Vec3D &position) const

void	projectOntoWallVTK (Vec3D &point0, const Vec3D &point1, const Vec3D &normal, const Vec3D &position) const

void	intersectVTK (std::vector< Vec3D > &points, Vec3D normal, Vec3D position) const

virtual BaseInteraction *	getInteractionWithSuperQuad (SuperQuadricParticle p, unsigned timeStamp, InteractionHandler interactionHandler)

virtual void	writeVTK (VTKContainer &vtk) const

void	getVTK (std::vector< Vec3D > &points, std::vector< std::vector< double >> &triangleStrips)

const Vec3D	getAxis () const

BaseInteraction *	getInteractionWith (BaseParticle p, unsigned timeStamp, InteractionHandler interactionHandler) override
	Returns the interaction between this wall and a given particle, nullptr if there is no interaction. More...

virtual void	actionsOnRestart ()
	No implementation but can be overidden in its derived classes. More...

virtual void	actionsAfterParticleGhostUpdate ()
	No implementation but can be overidden in its derived classes. More...

virtual void	handleParticleAddition (unsigned int id, BaseParticle *p)
	Handles the addition of particles to the particleHandler. More...

virtual void	handleParticleRemoval (unsigned int id)
	Handles the addition of particles to the particleHandler. More...

virtual void	checkInteractions (InteractionHandler *interactionHandler, unsigned int timeStamp)
	Check if all interactions are valid. More...

bool	getVTKVisibility () const

void	setVTKVisibility (bool vtkVisibility)

void	addRenderedWall (BaseWall *w)

BaseWall *	getRenderedWall (size_t i) const

std::vector< BaseWall * >	getRenderedWalls () const

void	removeRenderedWalls ()

void	renderWall (VTKContainer &vtk)

void	addParticlesAtWall (unsigned numElements=50)

void	setVelocityControl (Vec3D forceGoal, Vec3D gainFactor, Vec3D baseVelocity)

virtual void	writeWallDetailsVTK (VTKData &data) const

virtual void	computeWear ()

Public Member Functions inherited from BaseInteractable
	BaseInteractable ()
	Default BaseInteractable constructor. More...

	BaseInteractable (const BaseInteractable &p)
	Copy constructor. More...

	~BaseInteractable () override
	Destructor, it simply destructs the BaseInteractable and all the objects it contains. More...

unsigned int	getIndSpecies () const
	Returns the index of the species associated with the interactable object. More...

const ParticleSpecies *	getSpecies () const
	Returns a pointer to the species of this BaseInteractable. More...

void	setSpecies (const ParticleSpecies *species)
	Sets the species of this BaseInteractable. More...

const Vec3D &	getForce () const
	Returns the force on this BaseInteractable. More...

const Vec3D &	getTorque () const
	Returns the torque on this BaseInteractable. More...

void	setForce (const Vec3D &force)
	Sets the force on this BaseInteractable. More...

void	setTorque (const Vec3D &torque)
	Sets the torque on this BaseInteractable. More...

void	addForce (const Vec3D &addForce)
	Adds an amount to the force on this BaseInteractable. More...

void	addTorque (const Vec3D &addTorque)
	Adds an amount to the torque on this BaseInteractable. More...

virtual void	resetForceTorque (int numberOfOMPthreads)

void	sumForceTorqueOMP ()

const Vec3D &	getPosition () const
	Returns the position of this BaseInteractable. More...

const Quaternion &	getOrientation () const
	Returns the orientation of this BaseInteractable. More...

virtual void	setPosition (const Vec3D &position)
	Sets the position of this BaseInteractable. More...

void	setOrientationViaNormal (Vec3D normal)
	Sets the orientation of this BaseInteractable by defining the vector that results from the rotation of the (1,0,0) vector. More...

void	setOrientationViaEuler (Vec3D eulerAngle)
	Sets the orientation of this BaseInteractable by defining the euler angles. More...

virtual void	setOrientation (const Quaternion &orientation)
	Sets the orientation of this BaseInteractable. More...

virtual void	move (const Vec3D &move)
	Moves this BaseInteractable by adding an amount to the position. More...

virtual void	rotate (const Vec3D &angularVelocityDt)
	Rotates this BaseInteractable. More...

const std::vector< BaseInteraction * > &	getInteractions () const
	Returns a list of interactions which belong to this interactable. More...

void	addInteraction (BaseInteraction *I)
	Adds an interaction to this BaseInteractable. More...

bool	removeInteraction (BaseInteraction *I)
	Removes an interaction from this BaseInteractable. More...

void	copyInteractionsForPeriodicParticles (const BaseInteractable &p)
	Copies interactions to this BaseInteractable whenever a periodic copy made. More...

void	setVelocity (const Vec3D &velocity)
	set the velocity of the BaseInteractable. More...

void	setAngularVelocity (const Vec3D &angularVelocity)
	set the angular velocity of the BaseInteractble. More...

void	addVelocity (const Vec3D &velocity)
	adds an increment to the velocity. More...

void	addAngularVelocity (const Vec3D &angularVelocity)
	add an increment to the angular velocity. More...

virtual const Vec3D &	getVelocity () const
	Returns the velocity of this interactable. More...

virtual const Vec3D &	getAngularVelocity () const
	Returns the angular velocity of this interactable. More...

void	setPrescribedPosition (const std::function< Vec3D(double)> &prescribedPosition)
	Allows the position of an infinite mass interactable to be prescribed. More...

void	applyPrescribedPosition (double time)
	Computes the position from the user defined prescribed position function. More...

void	setPrescribedVelocity (const std::function< Vec3D(double)> &prescribedVelocity)
	Allows the velocity of an infinite mass interactable to be prescribed. More...

void	applyPrescribedVelocity (double time)
	Computes the velocity from the user defined prescribed velocity function. More...

void	setPrescribedOrientation (const std::function< Quaternion(double)> &prescribedOrientation)
	Allows the orientation of the infinite mass interactbale to be prescribed. More...

void	applyPrescribedOrientation (double time)
	Computes the orientation from the user defined prescribed orientation function. More...

void	setPrescribedAngularVelocity (const std::function< Vec3D(double)> &prescribedAngularVelocity)
	Allows the angular velocity of the infinite mass interactable to be prescribed. More...

void	applyPrescribedAngularVelocity (double time)
	Computes the angular velocity from the user defined prescribed angular velocity. More...

virtual const Vec3D	getVelocityAtContact (const Vec3D &contact) const
	Returns the velocity at the contact point, use by many force laws. More...

void	integrateBeforeForceComputation (double time, double timeStep)
	This is part of integrate routine for objects with infinite mass. More...

void	integrateAfterForceComputation (double time, double timeStep)
	This is part of the integration routine for objects with infinite mass. More...

virtual Mdouble	getInvMass () const

virtual Mdouble	getCurvature (const Vec3D &labFixedCoordinates) const

virtual bool	isFaceContact (const Vec3D &normal) const

Public Member Functions inherited from BaseObject
	BaseObject ()=default
	Default constructor. More...

	BaseObject (const BaseObject &p)=default
	Copy constructor, copies all the objects BaseObject contains. More...

virtual	~BaseObject ()=default
	virtual destructor More...

virtual void	moveInHandler (unsigned int index)
	Except that it is virtual, it does the same thing as setIndex() does. More...

void	setIndex (unsigned int index)
	Allows one to assign an index to an object in the handler/container. More...

void	setId (unsigned long id)
	Assigns a unique identifier to each object in the handler (container) which remains constant even after the object is deleted from the container/handler. More...

unsigned int	getIndex () const
	Returns the index of the object in the handler. More...

unsigned int	getId () const
	Returns the unique identifier of any particular object. More...

void	setGroupId (unsigned groupId)

unsigned	getGroupId () const

Private Attributes
Vec3D	start_
	The centre of the lower end of the Coil. More...

Mdouble	l_
	The length of the Coil. More...

Mdouble	r_

Mdouble	n_

Mdouble	omega_

Mdouble	offset_

Mdouble	thickness_

Additional Inherited Members
Static Public Member Functions inherited from BaseWall
static void	addToVTK (const std::vector< Vec3D > &points, VTKContainer &vtk)
	Takes the points provided and adds a triangle strip connecting these points to the vtk container. More...

Detailed Description

This class defines a coil in the z-direction from a (constant) starting point, a (constant) length L, a (constant) radius r, a (constant) number or revelations N and a (constant) rotation speed (rev/s)

q is a new coordinate going from 0 to 1 and t is the time, x=xs+r*cos(2*pi(offset+N*q)), y=ys+r*sin(2*pi*(offset+N*q)) and z=zs+q*L

Todo:

IFCD: Can someone look at the details of the documentation of class Coil? I can't make sense of them.

Coil is now fixed in Z-direction, centered around the Z-axis. Consider converting to more general parameters, with direction of choise and central axis of choice.

Constructor & Destructor Documentation

◆ Coil() [1/3]

Coil::Coil ( )

Default constructor, sets a coil with default parameters.

Default constructor, make a Coil which is centered in the origin, has length 1, radius 1, 1 revelation, rotates with 1 rev/s, has thickness 0 and has not rotated.

 {
     start_.setZero();
     l_ = 1.0;
     r_ = 1.0;
     n_ = 1.0;
     omega_ = 1.0;
     offset_ = 0.0;
     thickness_ = 0.0;
     logger(DEBUG, "Coil() constructor finished");
 }

References DEBUG, l_, logger, n_, offset_, omega_, r_, Vec3D::setZero(), start_, and thickness_.

Referenced by copy().

◆ Coil() [2/3]

Coil::Coil ( const Coil & other )

Copy constructor, makes a coil with the same properties as the input Coil.

Parameters

[in] other Coil to be copied into this coil

                             : BaseWall(other)
 {
     start_ = other.start_;
     l_ = other.l_;
     r_ = other.r_;
     n_ = other.n_;
     omega_ = other.omega_;
     offset_ = other.offset_;
     thickness_ = other.thickness_;
     logger(DEBUG, "Coil(const Coil&) copy constructor finished");
 }

References DEBUG, l_, logger, n_, offset_, omega_, r_, start_, and thickness_.

◆ Coil() [3/3]

Coil::Coil	(	Vec3D	start,
		Mdouble	l,
		Mdouble	r,
		Mdouble	n,
		Mdouble	omega,
		Mdouble	thickness
	)

Constructor in which all parameters are set.

Parameters

[in]	start	A Vec3D which denotes the centre of the lower end of the Coil.
[in]	l	The length of the Coil, must be positive.
[in]	r	The radius of the Coil, must be positive.
[in]	n	The number of revelations of the Coil, must be positive.
[in]	omega	The rotation speed of the Coil in rev/s.
[in]	thickness	The thickness of the "spiral" of the Coil, must be non-negative.

Make a Coil by assigning all input parameters to the data-members of this class, and setting the offset_ to 0.

 {
     start_ = start;
     l_ = l;
     r_ = r;
     n_ = n;
     omega_ = omega;
     thickness_ = thickness;
     offset_ = 0.0;
     logger(DEBUG, "Coil(params) constructor with parameters finished.");
 }

References DEBUG, l_, logger, n, n_, offset_, Eigen::internal::omega(), omega_, UniformPSDSelfTest::r, r_, oomph::CumulativeTimings::start(), start_, and thickness_.

◆ ~Coil()

Coil::~Coil ( )

override

Default destructor.

 {
     logger(DEBUG, "~Coil() destructor finished.");
 }

References DEBUG, and logger.

Member Function Documentation

◆ copy()

Coil * Coil::copy ( ) const

overridevirtual

Copy this Coil and return a pointer to the copy, useful for polymorphism.

Returns: A pointer to a copy of this Coil.

Implements BaseWall.

 {
     return new Coil(*this);
 }

References Coil().

◆ getDistanceAndNormal()

bool Coil::getDistanceAndNormal	(	const BaseParticle &	p,
		Mdouble &	distance,
		Vec3D &	normal_return
	)		const

overridevirtual

Compute the distance from the Coil for a given BaseParticle and return if there is a collision. If there is a collision, also return the normal vector of the interaction point.

Parameters

[in]	p	BaseParticle we want to calculate the distance and whether it collided of.
[out]	distance	The distance of the BaseParticle to this Coil.
[out]	normal_return	If there was a collision, the normal vector to this Coil will be placed here.

Returns: A boolean which says whether or not there was a collision.

This function computes whether or not there is a collision between a given BaseParticle and this Coil. If there is a collision, this function also computes the distance between the BaseParticle and Coil and the normal of the IntersectionOfWalls at the intersection point.

Todo:: Make this function readable and explain the steps in the details.

Implements BaseWall.

 {
     const Mdouble interactionRadius = p.getWallInteractionRadius(this) + thickness_;
     Mdouble Rsqr = pow(p.getPosition().X - start_.X, 2) + pow(p.getPosition().Y - start_.Y, 2);
     if (Rsqr > pow(r_ + interactionRadius, 2) ||
         Rsqr < pow(r_ - interactionRadius, 2) ||
         p.getPosition().Z > l_ + start_.Z + interactionRadius ||
         p.getPosition().Z < start_.Z - interactionRadius)
     {
         //std::cout<<"Particle is out of first bound checking"<<std::endl;
         //std::cout<<"Rule 1: "<<pow(r-P.getRadius()-thickness_,2)<<"<"<<Rsqr<<"<"<<pow(r+P.getRadius()+thickness_,2)<<std::endl;
         //std::cout<<"Rule 2: "<<Start.Z-P.getRadius()-thickness_<<"<"<<P.getPosition().Z<<"<"<<L+Start.Z+P.getRadius()+thickness_<<std::endl;
         return false;
     }
     Mdouble R = sqrt(Rsqr);
     Mdouble alpha = atan2(p.getPosition().Y - start_.Y, p.getPosition().X - start_.X);
     Mdouble dz = p.getPosition().Z - start_.Z;
     
     //To find the contact point we have to minimize (with respect to q)
     //Distance^2=(x-x0-r*cos(2*Pi*(offset+N*q)))^2+(y-y0-r*sin(2*Pi*(offset+N*q)))^2+(z-z0-q*L)^2
     //Using polar coordinated (i.e. x-x0=R*cos(alpha), y-y0=R*sin(alpha) and dz=z-z0)
     //Distance^2=R^2+r^2-2*R*r*cos(alpha-2*Pi*(offset+N*q))+(dz-q*L)^2
     
     //So we have to minimize:
     //Distance^2=R^2+r^2-2*R*r*cos(alpha-2*Pi*(offset+N*q))+(dz-q*L)^2
     //For this we use the Euler algoritm
     
     Mdouble q; //Current guess
     Mdouble dd; //Derivative at current guess
     Mdouble ddd; //Second derivative at current guess
     Mdouble q0 = dz / l_; //Minimum of the parabolic part
     
     //The initial guess will be in the maximum of the cos closest to the minimum of the parabolic part
     //Minima of the cos are at
     //alpha-2*Pi*(offset+N*q)=2*k*Pi (k=integer)
     //q=alpha/(2*Pi*N)-k/N-offset/N (k=integer)
     
     Mdouble k = round(alpha / 2.0 / constants::pi - (offset_ + n_ * q0));
     q = alpha / (2 * constants::pi * n_) - k / n_ - offset_ / n_;
     
     //Now apply Newton's method
     do
     {
         dd = -4.0 * R * r_ * constants::pi * n_ * sin(alpha - 2.0 * constants::pi * (n_ * q + offset_)) -
              2.0 * l_ * (dz - q * l_);
         ddd = 8.0 * R * r_ * constants::sqr_pi * n_ * n_ * cos(alpha - 2.0 * constants::pi * (n_ * q + offset_)) +
               2.0 * l_ * l_;
         q -= dd / ddd;
     } while (fabs(dd / ddd) > 1e-14);
     
     //Check if the location is actually on the coil, otherwise a point collision with the end of the coil calculated
     if (q < 0) //Left boundary of the coil
     {
         q = 0;
     }
     else if (q > 1) //right boundary of the coil
     {
         q = 1;
     }
     
     Mdouble distanceSquared =
             R * R + r_ * r_ - 2 * R * r_ * cos(alpha - 2 * constants::pi * (offset_ + n_ * q)) + pow(dz - q * l_, 2);
     //If distance is too large there is no contact
     if (distanceSquared >= mathsFunc::square(p.getWallInteractionRadius(this) + thickness_))
     {
         //std::cout<<"Particle is out of second bound checking, distance^2="<<distance<<" max="<<(P.getRadius()+thickness_)*(P.getRadius()+thickness_)<<std::endl;
         return false;
     }
     
     Vec3D ContactPoint;
     distance = sqrt(distanceSquared) - thickness_;
     ContactPoint.X = start_.X + r_ * cos(2.0 * constants::pi * (offset_ + n_ * q));
     ContactPoint.Y = start_.Y + r_ * sin(2.0 * constants::pi * (offset_ + n_ * q));
     ContactPoint.Z = start_.Z + q * l_;
     normal_return = ContactPoint - p.getPosition();
     normal_return /= normal_return.getLength();
     return true;
 }

References alpha, atan2(), cos(), e(), boost::multiprecision::fabs(), Vec3D::getLength(), k, l_, n_, offset_, p, constants::pi, Eigen::bfloat16_impl::pow(), Eigen::numext::q, R, r_, Eigen::bfloat16_impl::round(), sin(), constants::sqr_pi, sqrt(), mathsFunc::square(), start_, thickness_, Vec3D::X, Vec3D::Y, and Vec3D::Z.

◆ getName()

std::string Coil::getName ( ) const

overridevirtual

Returns the name of the object, in this case the string "Coil".

Returns: The string "Coil".

Implements BaseObject.

 {
     return "Coil";
 }

◆ move_time()

void Coil::move_time ( Mdouble dt )

Rotate the Coil for a period dt, so that the offset_ changes with omega_*dt.

Parameters

[in] dt The time for which the Screw has to be turned.

 {
     offset_ += omega_ * dt;
 }

References offset_, and omega_.

Referenced by CoilSelfTest::actionsBeforeTimeStep().

◆ oldRead()

void Coil::oldRead ( std::istream & is )

Reads an old-style Coil from an input stream, for example an old restart file.

Deprecated:: If you have old restart files, please convert them to the current version of the restart files and use read(std::istream&) instead of oldRead(std::istream&).

Parameters

[in,out] is The input stream from which the Coil is read.

 {
     std::string dummy;
     is >> dummy >> start_
        >> dummy >> l_
        >> dummy >> r_ >> dummy >> n_
        >> dummy >> omega_
        >> dummy >> offset_;
 }

References l_, n_, offset_, omega_, r_, start_, and oomph::Global_string_for_annotation::string().

◆ read()

void Coil::read ( std::istream & is )

overridevirtual

Reads a Coil from an input stream, for example a restart file.

Parameters

[in,out] is The input stream from which the Coil is read.

Reimplemented from BaseWall.

 {
     BaseWall::read(is);
     std::string dummy;
     is >> dummy >> start_
        >> dummy >> l_
        >> dummy >> r_
        >> dummy >> n_
        >> dummy >> omega_
        >> dummy >> thickness_
        >> dummy >> offset_;
 }

References l_, n_, offset_, omega_, r_, BaseWall::read(), start_, oomph::Global_string_for_annotation::string(), and thickness_.

◆ set()

void Coil::set	(	Vec3D	start,
		Mdouble	length,
		Mdouble	radius,
		Mdouble	numberOfRevelations,
		Mdouble	omega,
		Mdouble	thickness
	)

Set all parameters of this Coil.

Set the parameters of this Coil by assigning all input parameters to the data-members of this class, and setting the offset_ to 0.

Parameters

[in]	start	A Vec3D which denotes the centre of the lower end of the Coil.
[in]	length	The length of the Coil, must be positive.
[in]	radius	The radius of the Coil, must be positive.
[in]	numberOfRevelations	The number of revelations of the Coil, must be positive.
[in]	omega	The rotation speed of the Coil in rev/s.
[in]	thickness	The thickness of the "spiral" of the Coil, must be non-negative.

 {
     start_ = start;
     l_ = length;
     r_ = radius;
     n_ = numberOfRevelations;
     omega_ = omega;
     thickness_ = thickness;
     offset_ = 0.0;
 }

References l_, n_, offset_, Eigen::internal::omega(), omega_, r_, UniformPSDSelfTest::radius, oomph::CumulativeTimings::start(), start_, and thickness_.

Referenced by CoilSelfTest::setupInitialConditions().

◆ write()

void Coil::write ( std::ostream & os ) const

overridevirtual

Writes a Coil to an output stream, for example a restart file.

Parameters

[in,out] os The outpus stream to which the Coil is written.

Reimplemented from BaseWall.

 {
     BaseWall::write(os);
     os << " Start " << start_
        << " Length " << l_
        << " Radius " << r_
        << " Revolutions " << n_
        << " Omega " << omega_
        << " Thickness " << thickness_
        << " Offset " << offset_;
 }