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solide.cpp
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//Copyright 2017 Laurent Monasse
/*
This file is part of CELIA3D.
CELIA3D is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
CELIA3D is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with CELIA3D. If not, see <http://www.gnu.org/licenses/>.
*/
/*!
* \file
\authors Laurent Monasse and Maria Adela Puscas
* \brief Definition of the functions in class Solide.
* Specific coupling procedures are preceded by a "warning" sign.
*/
#include "solide.hpp"
#include "intersections.hpp"
#include <iostream>
#ifndef SOLIDE_CPP
#define SOLIDE_CPP
const double eps_relat =0.000001;
/*!
* \brief Default constructor.
*/
Vertex::Vertex()
{
pos = Point_3(0.,0.,0.);
num = 0;
}
/*!\brief Constructor overload.
*\param p Vertex coordinates
*\param parts Vector of the particles sharing vertex \a p
*/
Vertex::Vertex(const Point_3 p, std::vector<int> & parts)
{
pos = p;
for(int i=0; i<parts.size(); i++){
particules.push_back(parts[i]);
}
}
/*!
* \brief operator = overload.
* \param V Vertex
* \return Vertex
*/
Vertex & Vertex:: operator=(const Vertex &V){
assert(this != &V);
pos = V.pos;
num = V.num;
particules.resize(V.particules.size());
for(int i=0; i<V.particules.size(); i++){
particules[i]= V.particules[i];
}
}
/*!
* \brief Default constructor.
*/
Face::Face()
{
centre = Point_3(0.,0.,0.);
normale = Vector_3(1.,0.,0.);
voisin = -1;
D0 = 1.;
}
/*!\brief Constructor overload
*\param v vector of vertices
*\param part index of the neighbouring particle. It is equal to -1 if there is no solid neighbour
*/
Face::Face(std::vector<Vertex> & v, int part)
{
std::vector<Point_3> points;
for(int i=0; i<v.size(); i++){
vertex.push_back(v[i]);
points.push_back(v[i].pos);
}
centre = centroid(points.begin(),points.end());
normale = orthogonal_vector(points[0],points[1],points[2]);
double norm = sqrt(CGAL::to_double(normale.squared_length()));
normale = normale*1./norm;
voisin = part;
D0 = 1.;
}
/*!\brief Constructor overload.
* \param v vector of vertices
* \param part index of the neighbouring particle. It is equal to -1 if there is no solid neighbour
* \param dist Equilibrium distance of the two particles sharing the face
*/
Face::Face(std::vector<Vertex> & v, int part, double dist)
{
std::vector<Point_3> points;
for(int i=0; i<v.size(); i++){
vertex.push_back(v[i]);
points.push_back(v[i].pos);
}
centre = centroid(points.begin(),points.end());
normale = orthogonal_vector(points[0],points[1],points[2]);
double norm = sqrt(CGAL::to_double(normale.squared_length()));
normale = normale*1./norm;
voisin = part;
D0 = dist;
}
/*!
* \brief Operator = overload
* \param F Face
* \return Face
*/
Face & Face:: operator=(const Face &F){
assert(this != &F);
centre = F.centre;
normale = F.normale;
voisin = F.voisin;
D0 = F.D0;
Is = F.Is;
It = F.It;
s = F.s;
t = F.t;
vertex.resize(F.vertex.size());
for(int i= 0; i<F.vertex.size(); i++){
vertex[i] = F.vertex[i];
}
}
/*!\brief Computation of the face moments.
* \details
* First inertia moment of the face \n
* Second inertia moment of the face \n
* Eigenvectors associated with the two principal inertia moments of the face
* \return void
*/
void Face::Inertie(){
//Choose an initial orthonormal frame for the face
if(normale.operator[](0)!=0. || normale.operator[](1)!=0.){
s = Vector_3(-normale.operator[](1),normale.operator[](0),0.);
s = s/(sqrt(CGAL::to_double(s.squared_length())));
t = cross_product(normale,s);
} else {
s = Vector_3(0.,0.,1.);
s = s/(sqrt(CGAL::to_double(s.squared_length())));
t = cross_product(normale,s);
}
//Compute the face center
double T1 = 0.;
double Ts = 0.;
double Tt = 0.;
for(int i=0;i<size();i++){
int ip = (i+1)%(size());
Vector_3 v1(centre,vertex[i].pos);
Vector_3 v2(centre,vertex[ip].pos);
T1 += 1./2.*CGAL::to_double(cross_product(v1,v2)*normale);
Ts += 1./6.*CGAL::to_double(cross_product(v1,v2)*normale)*CGAL::to_double((v1+v2)*s);
Tt += 1./6.*CGAL::to_double(cross_product(v1,v2)*normale)*CGAL::to_double((v1+v2)*t);
}
centre = centre + (Ts/T1)*s + (Tt/T1)*t;
S = T1;
//Compute the inertia matrix for the face in the chosen frame at the center of the face
double Tss = 0.;
double Ttt = 0.;
double Tst = 0.;
for(int i=0;i<size();i++){
int ip = (i+1)%(size());
Vector_3 v1(centre,vertex[i].pos);
Vector_3 v2(centre,vertex[ip].pos);
double As = CGAL::to_double(v1*s);
double At = CGAL::to_double(v1*t);
double Bs = CGAL::to_double(v2*s);
double Bt = CGAL::to_double(v2*t);
Tss += 1./12.*(As*As+As*Bs+Bs*Bs);
Ttt += 1./12.*(At*At+At*Bt+Bt*Bt);
Tst += 1./24.*(2.*As*At+As*Bt+At*Bs+2.*Bs*Bt);
}
//Compute the inertia moments
double Delta = pow(Tss-Ttt,2)+4.*Tst*Tst;
Is = (Tss+Ttt+sqrt(Delta))/2.;
It = (Tss+Ttt-sqrt(Delta))/2.;
//Diagonalization
if(abs(Tss-Ttt)>eps){
if(abs(Tss-Is)>eps){
Vector_3 stemp = -Tst*s+(Tss-Is)*t;
s = stemp/(sqrt(CGAL::to_double(stemp.squared_length())));
t = cross_product(normale,s);
} else {
Vector_3 stemp = -Tst*t+(Ttt-Is)*s;
s = stemp/(sqrt(CGAL::to_double(stemp.squared_length())));
t = cross_product(normale,s);
}
} else {
if(abs(Tst)>eps){
Vector_3 stemp = s+t;
Vector_3 ttemp = -s+t;
s = stemp/(sqrt(CGAL::to_double(stemp.squared_length())));
t = stemp/(sqrt(CGAL::to_double(ttemp.squared_length())));
}
}
}
/*!\brief Default constructor.
*/
Particule::Particule()
{
bbox = Bbox(0.,0.,0.,1.,1.,1.);
x0 = Point_3(0.5,0.5,0.5);
cube = true;
const Point_3 s1(0.,0.,0.);
const Point_3 r1(1.,0.,0.);
const Point_3 t1(1.,1.,0.);
const Point_3 v1(0.,1.,0.);
const Point_3 s2(0.,0.,1.);
const Point_3 r2(1.,0.,1.);
const Point_3 t2(1.,1.,1.);
const Point_3 v2(0.,1.,1.);
//Face 1
std::vector<Vertex> vert1(4);
vert1[0].pos = s1;
vert1[0].particules.push_back(-1);
vert1[1].pos = v1;
vert1[1].particules.push_back(-1);
vert1[2].pos = t1;
vert1[2].particules.push_back(-1);
vert1[3].pos = r1;
vert1[3].particules.push_back(-1);
vector<Point_3> points1(4);
for(int i=0;i<4;i++){
points1[i] = vert1[i].pos;
}
Face face1 = Face(vert1,-1,1.);
face1.centre = centroid(points1.begin(),points1.end());
face1.normale = orthogonal_vector(points1[0],points1[1],points1[2]);
double norm1 = sqrt(CGAL::to_double(face1.normale.squared_length()));
face1.normale = face1.normale*1./norm1;
//Face 2
std::vector<Vertex> vert2(4);
vert2[0].pos = s1;
vert2[0].particules.push_back(-1);
vert2[1].pos = r1;
vert2[1].particules.push_back(-1);
vert2[2].pos = r2;
vert2[2].particules.push_back(-1);
vert2[3].pos = s2;
vert2[3].particules.push_back(-1);
vector<Point_3> points2(4);
for(int i=0;i<4;i++){
points2[i] = vert2[i].pos;
}
Face face2 = Face(vert2,-1,1.);
face2.centre = centroid(points2.begin(),points2.end());
face2.normale = orthogonal_vector(points2[0],points2[1],points2[2]);
double norm2 = sqrt(CGAL::to_double(face2.normale.squared_length()));
face2.normale = face2.normale*1./norm2;
//Face 3
std::vector<Vertex> vert3(4);
vert3[0].pos = r1;
vert3[0].particules.push_back(-1);
vert3[1].pos = t1;
vert3[1].particules.push_back(-1);
vert3[2].pos = t2;
vert3[2].particules.push_back(-1);
vert3[3].pos = r2;
vert3[3].particules.push_back(-1);
vector<Point_3> points3(4);
for(int i=0;i<4;i++){
points3[i] = vert3[i].pos;
}
Face face3 = Face(vert3,-1,1.);
face3.centre = centroid(points3.begin(),points3.end());
face3.normale = orthogonal_vector(points3[0],points3[1],points3[2]);
double norm3 = sqrt(CGAL::to_double(face3.normale.squared_length()));
face3.normale = face3.normale*1./norm3;
//Face 4
std::vector<Vertex> vert4(4);
vert4[0].pos = t1;
vert4[0].particules.push_back(-1);
vert4[1].pos = v1;
vert4[1].particules.push_back(-1);
vert4[2].pos = v2;
vert4[2].particules.push_back(-1);
vert4[3].pos = t2;
vert4[3].particules.push_back(-1);
vector<Point_3> points4(4);
for(int i=0;i<4;i++){
points4[i] = vert4[i].pos;
}
Face face4 = Face(vert4,-1,1.);
face4.centre = centroid(points4.begin(),points4.end());
face4.normale = orthogonal_vector(points4[0],points4[1],points4[2]);
double norm4 = sqrt(CGAL::to_double(face4.normale.squared_length()));
face4.normale = face4.normale*1./norm4;
//Face 5
std::vector<Vertex> vert5(4);
vert5[0].pos = s1;
vert5[0].particules.push_back(-1);
vert5[1].pos = r1;
vert5[1].particules.push_back(-1);
vert5[2].pos = r2;
vert5[2].particules.push_back(-1);
vert5[3].pos = s2;
vert5[3].particules.push_back(-1);
vector<Point_3> points5(4);
for(int i=0;i<4;i++){
points5[i] = vert5[i].pos;
}
Face face5 = Face(vert5,-1,1.);
face5.centre = centroid(points5.begin(),points5.end());
face5.normale = orthogonal_vector(points5[0],points5[1],points5[2]);
double norm5 = sqrt(CGAL::to_double(face5.normale.squared_length()));
face5.normale = face5.normale*1./norm5;
//Face 6
std::vector<Vertex> vert6(4);
vert6[0].pos = s1;
vert6[0].particules.push_back(-1);
vert6[1].pos = r1;
vert6[1].particules.push_back(-1);
vert6[2].pos = r2;
vert6[2].particules.push_back(-1);
vert6[3].pos = s2;
vert6[3].particules.push_back(-1);
vector<Point_3> points6(4);
for(int i=0;i<4;i++){
points6[i] = vert6[i].pos;
}
Face face6 = Face(vert6,-1,1.);
face6.centre = centroid(points6.begin(),points6.end());
face6.normale = orthogonal_vector(points6[0],points6[1],points6[2]);
double norm6 = sqrt(CGAL::to_double(face6.normale.squared_length()));
face6.normale = face6.normale*1./norm6;
std::vector<Face> f(6);
f[0] = face1;
f[1] = face2;
f[2] = face3;
f[3] = face4;
f[4] = face5;
f[5] = face6;
faces = f;
//Face triangles
Triangle_3 Tri1(s1,r1,v1);
Triangle_3 Tri2(t1,r1,v1);
triangles.push_back(Tri1);
triangles.push_back(Tri2);
normales.push_back(face1.normale);
normales.push_back(face1.normale);
fluide.push_back(true);
fluide.push_back(true);
//face2
Triangle_3 Tri5(s2,r2,v2);
Triangle_3 Tri6(t2,r2,v2);
triangles.push_back(Tri5);
triangles.push_back(Tri6);
normales.push_back(face2.normale);
normales.push_back(face2.normale);
fluide.push_back(true);
fluide.push_back(true);
//face3
Triangle_3 Tri9(s2,s1,v2);
Triangle_3 Tri10(v1,s1,v2);
triangles.push_back(Tri9);
triangles.push_back(Tri10);
normales.push_back(face3.normale);
normales.push_back(face3.normale);
fluide.push_back(true);
fluide.push_back(true);
//face4
Triangle_3 Tri13(r2,r1,t2);
Triangle_3 Tri14(t1,r1,t2);
triangles.push_back(Tri13);
triangles.push_back(Tri14);
normales.push_back(face4.normale);
normales.push_back(face4.normale);
fluide.push_back(true);
fluide.push_back(true);
//face5
Triangle_3 Tri17(v2,v1,t2);
Triangle_3 Tri18(t1,v1,t2);
triangles.push_back(Tri17);
triangles.push_back(Tri18);
normales.push_back(face5.normale);
normales.push_back(face5.normale);
fluide.push_back(true);
fluide.push_back(true);
//face6
Triangle_3 Tri21(s2,s1,r2);
Triangle_3 Tri22(r1,s1,r2);
triangles.push_back(Tri21);
triangles.push_back(Tri22);
normales.push_back(face6.normale);
normales.push_back(face6.normale);
fluide.push_back(true);
fluide.push_back(true);
Points_interface.resize(triangles.size(), std::vector<Point_3>(0));
Triangles_interface.resize(triangles.size(), std::vector<Triangle_3>(0));
Position_Triangles_interface.resize(triangles.size(), std::vector< std::vector<int> >(0));
Points_interface_prev.resize(triangles.size(), std::vector<Point_3>(0));
Triangles_interface_prev.resize(triangles.size(), std::vector<Triangle_3>(0));
Position_Triangles_interface_prev.resize(triangles.size(), std::vector<std::vector<int> >(0));
Ff = Vector_3(0.,0.,0.); Ffprev = Vector_3(0.,0.,0.);
Mf = Vector_3(0.,0.,0.); Mfprev = Vector_3(0.,0.,0.);
}
/*!\brief Constructor overload.
* \param (x_min, y_min, z_min), (x_max, y_max, z_max): bounding box coordinates
*/
Particule::Particule(const double x_min, const double y_min, const double z_min,
const double x_max, const double y_max,const double z_max)
{
bbox = Bbox(x_min,y_min,z_min,x_max,y_max,z_max);
x0 = Point_3((x_min+x_max)/2.,(y_min+y_max)/2.,(z_min+z_max)/2.);
cube = true;
const Point_3 s1(x_min, y_min, z_min);
const Point_3 r1(x_max, y_min, z_min);
const Point_3 t1(x_max, y_max, z_min);
const Point_3 v1(x_min, y_max, z_min);
const Point_3 s2(x_min, y_min, z_max);
const Point_3 r2(x_max, y_min, z_max);
const Point_3 t2(x_max, y_max, z_max);
const Point_3 v2(x_min, y_max, z_max);
//Face 1
std::vector<Vertex> vert1(4);
vert1[0].pos = s1;
vert1[0].particules.push_back(-1);
vert1[1].pos = v1;
vert1[1].particules.push_back(-1);
vert1[2].pos = t1;
vert1[2].particules.push_back(-1);
vert1[3].pos = r1;
vert1[3].particules.push_back(-1);
vector<Point_3> points1(4);
for(int i=0;i<4;i++){
points1[i] = vert1[i].pos;
}
Face face1 = Face(vert1,-1,1.);
face1.centre = centroid(points1.begin(),points1.end());
face1.normale = orthogonal_vector(points1[0],points1[1],points1[2]);
double norm1 = sqrt(CGAL::to_double(face1.normale.squared_length()));
face1.normale = face1.normale*1./norm1;
//Face 2
std::vector<Vertex> vert2(4);
vert2[0].pos = s1;
vert2[0].particules.push_back(-1);
vert2[1].pos = r1;
vert2[1].particules.push_back(-1);
vert2[2].pos = r2;
vert2[2].particules.push_back(-1);
vert2[3].pos = s2;
vert2[3].particules.push_back(-1);
vector<Point_3> points2(4);
for(int i=0;i<4;i++){
points2[i] = vert2[i].pos;
}
Face face2 = Face(vert2,-1,1.);
face2.centre = centroid(points2.begin(),points2.end());
face2.normale = orthogonal_vector(points2[0],points2[1],points2[2]);
double norm2 = sqrt(CGAL::to_double(face2.normale.squared_length()));
face2.normale = face2.normale*1./norm2;
//Face 3
std::vector<Vertex> vert3(4);
vert3[0].pos = r1;
vert3[0].particules.push_back(-1);
vert3[1].pos = t1;
vert3[1].particules.push_back(-1);
vert3[2].pos = t2;
vert3[2].particules.push_back(-1);
vert3[3].pos = r2;
vert3[3].particules.push_back(-1);
vector<Point_3> points3(4);
for(int i=0;i<4;i++){
points3[i] = vert3[i].pos;
}
Face face3 = Face(vert3,-1,1.);
face3.centre = centroid(points3.begin(),points3.end());
face3.normale = orthogonal_vector(points3[0],points3[1],points3[2]);
double norm3 = sqrt(CGAL::to_double(face3.normale.squared_length()));
face3.normale = face3.normale*1./norm3;
//Face 4
std::vector<Vertex> vert4(4);
vert4[0].pos = t1;
vert4[0].particules.push_back(-1);
vert4[1].pos = v1;
vert4[1].particules.push_back(-1);
vert4[2].pos = v2;
vert4[2].particules.push_back(-1);
vert4[3].pos = t2;
vert4[3].particules.push_back(-1);
vector<Point_3> points4(4);
for(int i=0;i<4;i++){
points4[i] = vert4[i].pos;
}
Face face4 = Face(vert4,-1,1.);
face4.centre = centroid(points4.begin(),points4.end());
face4.normale = orthogonal_vector(points4[0],points4[1],points4[2]);
double norm4 = sqrt(CGAL::to_double(face4.normale.squared_length()));
face4.normale = face4.normale*1./norm4;
//Face 5
std::vector<Vertex> vert5(4);
vert5[0].pos = s1;
vert5[0].particules.push_back(-1);
vert5[1].pos = r1;
vert5[1].particules.push_back(-1);
vert5[2].pos = r2;
vert5[2].particules.push_back(-1);
vert5[3].pos = s2;
vert5[3].particules.push_back(-1);
vector<Point_3> points5(4);
for(int i=0;i<4;i++){
points5[i] = vert5[i].pos;
}
Face face5 = Face(vert5,-1,1.);
face5.centre = centroid(points5.begin(),points5.end());
face5.normale = orthogonal_vector(points5[0],points5[1],points5[2]);
double norm5 = sqrt(CGAL::to_double(face5.normale.squared_length()));
face5.normale = face5.normale*1./norm5;
//Face 6
std::vector<Vertex> vert6(4);
vert6[0].pos = s1;
vert6[0].particules.push_back(-1);
vert6[1].pos = r1;
vert6[1].particules.push_back(-1);
vert6[2].pos = r2;
vert6[2].particules.push_back(-1);
vert6[3].pos = s2;
vert6[3].particules.push_back(-1);
vector<Point_3> points6(4);
for(int i=0;i<4;i++){
points6[i] = vert6[i].pos;
}
Face face6 = Face(vert6,-1,1.);
face6.centre = centroid(points6.begin(),points6.end());
face6.normale = orthogonal_vector(points6[0],points6[1],points6[2]);
double norm6 = sqrt(CGAL::to_double(face6.normale.squared_length()));
face6.normale = face6.normale*1./norm6;
std::vector<Face> f(6);
f[0] = face1;
f[1] = face2;
f[2] = face3;
f[3] = face4;
f[4] = face5;
f[5] = face6;
faces = f;
//Face triangles
Triangle_3 Tri1(s1,r1,v1);
Triangle_3 Tri2(t1,r1,v1);
triangles.push_back(Tri1);
triangles.push_back(Tri2);
normales.push_back(face1.normale);
normales.push_back(face1.normale);
fluide.push_back(true);
fluide.push_back(true);
//face2
Triangle_3 Tri5(s2,r2,v2);
Triangle_3 Tri6(t2,r2,v2);
triangles.push_back(Tri5);
triangles.push_back(Tri6);
normales.push_back(face2.normale);
normales.push_back(face2.normale);
fluide.push_back(true);
fluide.push_back(true);
//face3
Triangle_3 Tri9(s2,s1,v2);
Triangle_3 Tri10(v1,s1,v2);
triangles.push_back(Tri9);
triangles.push_back(Tri10);
normales.push_back(face3.normale);
normales.push_back(face3.normale);
fluide.push_back(true);
fluide.push_back(true);
//face4
Triangle_3 Tri13(r2,r1,t2);
Triangle_3 Tri14(t1,r1,t2);
triangles.push_back(Tri13);
triangles.push_back(Tri14);
normales.push_back(face4.normale);
normales.push_back(face4.normale);
fluide.push_back(true);
fluide.push_back(true);
//face5
Triangle_3 Tri17(v2,v1,t2);
Triangle_3 Tri18(t1,v1,t2);
triangles.push_back(Tri17);
triangles.push_back(Tri18);
normales.push_back(face5.normale);
normales.push_back(face5.normale);
fluide.push_back(true);
fluide.push_back(true);
//face6
Triangle_3 Tri21(s2,s1,r2);
Triangle_3 Tri22(r1,s1,r2);
triangles.push_back(Tri21);
triangles.push_back(Tri22);
normales.push_back(face6.normale);
normales.push_back(face6.normale);
fluide.push_back(true);
fluide.push_back(true);
Points_interface.resize(triangles.size(), std::vector<Point_3>(0));
Triangles_interface.resize(triangles.size(), std::vector<Triangle_3>(0));
Position_Triangles_interface.resize(triangles.size(), std::vector< std::vector<int> >(0));
Points_interface_prev.resize(triangles.size(), std::vector<Point_3>(0));
Triangles_interface_prev.resize(triangles.size(), std::vector<Triangle_3>(0));
Position_Triangles_interface_prev.resize(triangles.size(), std::vector< std::vector<int> >(0));
Ff = Vector_3(0.,0.,0.); Ffprev = Vector_3(0.,0.,0.);
Mf = Vector_3(0.,0.,0.); Mfprev = Vector_3(0.,0.,0.);
}
/*!\brief Constructor overload.
* \param (x_min, y_min, z_min), (x_max, y_max, z_max): Bounding box coordinates
* \param c Point
* \param F: Face of the Particule
*/
Particule::Particule(Point_3 c, const double x_min, const double y_min, const double z_min,
const double x_max, const double y_max,const double z_max,
std::vector<Face> & F)
{
bbox = Bbox(x_min,y_min,z_min,x_max,y_max,z_max);
x0 = c;
cube = false;
faces = F;
for(int i=0;i<faces.size();i++){
if(faces[i].size() == 3){
Point_3 s,r,v;
s = faces[i].vertex[0].pos;
r = faces[i].vertex[1].pos;
v = faces[i].vertex[2].pos;
Vector_3 vect0(s,r);
Vector_3 vect1(s,v);
Vector_3 normale = CGAL::cross_product(vect0,vect1);
normale = normale*(1./sqrt(CGAL::to_double(normale.squared_length())));
if (normale*faces[i].normale > 0.){
Triangle_3 Tri(s,r,v);
triangles.push_back(Tri);
normales.push_back(faces[i].normale);
if(faces[i].voisin < 0){
fluide.push_back(true);
} else {
fluide.push_back(false);
}
}
else{
Triangle_3 Tri(s,v,r);
triangles.push_back(Tri);
normales.push_back(faces[i].normale);
if(faces[i].voisin < 0){
fluide.push_back(true);
} else {
fluide.push_back(false);
}
}
if(faces[i].voisin == -2){
vide.push_back(true);
} else {
vide.push_back(false);
}
}
else{
Point_3 s,r,v;
s = faces[i].centre;
for(int k=0;k<faces[i].size();k++){
int kp = (k+1)%(faces[i].size());
r = faces[i].vertex[k].pos;
v = faces[i].vertex[kp].pos;
Vector_3 vect0(s,r);
Vector_3 vect1(s,v);
Triangle_3 Tri(s,r,v);
triangles.push_back(Tri);
normales.push_back(faces[i].normale);
if(faces[i].voisin < 0){
fluide.push_back(true);
} else {
fluide.push_back(false);
}
if(faces[i].voisin == -2){
vide.push_back(true);
} else {
vide.push_back(false);
}
}
}
}
Points_interface.resize(triangles.size(), std::vector<Point_3>(0));
Triangles_interface.resize(triangles.size(), std::vector<Triangle_3>(0));
Position_Triangles_interface.resize(triangles.size(), std::vector< std::vector<int> >(0));
Points_interface_prev.resize(triangles.size(), std::vector<Point_3>(0));
Triangles_interface_prev.resize(triangles.size(), std::vector<Triangle_3>(0));
Position_Triangles_interface_prev.resize(triangles.size(), std::vector< std::vector<int> >(0));
Ff = Vector_3(0.,0.,0.); Ffprev = Vector_3(0.,0.,0.);
Mf = Vector_3(0.,0.,0.); Mfprev = Vector_3(0.,0.,0.);
}
/*!\brief Destructor.
*/
Particule::~Particule(){
}
/*!\brief Operator = overload
* \param P Particule
* \return Particule
*/
Particule & Particule:: operator=(const Particule &P){
assert(this != &P);
bbox = P.bbox;
cube = P.cube;
faces = P.faces;
fixe = P.fixe;
m = P.m;
V = P.V;
Vl = P.Vl;
epsilon = P.epsilon;
for(int i=0; i<3;i++){
I[i] = P.I[i];
for(int j=0; j<3;j++){
rotref[i][j] = P.rotref[i][j];
}
}
x0 = P.x0;
Dx = P.Dx;
Dxprev = P.Dxprev;
Fi = P.Fi;
Ff = P.Ff;
Ffprev = P.Ffprev;
Mi = P.Mi;
Mf = P.Mf;
Mfprev = P.Mfprev;
u = P.u;
u_half = P.u_half;
omega = P.omega;
omega_half = P.omega_half;
e = P.e;
eprev= P.eprev;
mvt_t = P.mvt_t;
mvt_tprev = P.mvt_tprev;
triangles.resize(P.triangles.size());
for(int i = 0; i< P.triangles.size(); i++){
triangles[i] = P.triangles[i];
}
vide.resize(P.vide.size());
for(int i = 0; i< P.vide.size(); i++){
vide[i] = P.vide[i];
}
triangles_prev.resize(P.triangles_prev.size());
for(int i = 0; i< P.triangles_prev.size(); i++){
triangles_prev[i] = P.triangles_prev[i];
}
normales.resize(P.normales.size());
for(int i = 0; i< P.normales.size(); i++){
normales[i] = P.normales[i];
}
normales_prev.resize(P.normales_prev.size());
for(int i = 0; i< P.normales_prev.size(); i++){
normales_prev[i] = P.normales_prev[i];
}
fluide.resize(P.fluide.size());
for(int i = 0; i< P.fluide.size(); i++){
fluide[i] = P.fluide[i];
}
fluide_prev.resize(P.fluide_prev.size());
for(int i = 0; i< P.fluide_prev.size(); i++){
fluide_prev[i] = P.fluide_prev[i];
}
Points_interface.resize(P.Points_interface.size(), std::vector<Point_3>(0));
for(int i= 0; i< P.triangles.size(); i++){
Points_interface[i].resize(P.Points_interface[i].size());
for(int j=0; j<P.Points_interface[i].size(); j++ ){
Points_interface[i][j] = P.Points_interface[i][j];
}
}
Points_interface_prev.resize(P.Points_interface_prev.size(), std::vector<Point_3>(0));
for(int i= 0; i< P.triangles.size(); i++){
Points_interface_prev[i].resize(P.Points_interface_prev[i].size());
for(int j=0; j<P.Points_interface_prev[i].size(); j++ ){
Points_interface_prev[i][j] = P.Points_interface_prev[i][j];
}
}
Triangles_interface.resize(P.Triangles_interface.size(), std::vector<Triangle_3>(0));
for(int i= 0; i< P.triangles.size(); i++){
Triangles_interface[i].resize(P.Triangles_interface[i].size());
for(int j=0; j<P.Triangles_interface[i].size(); j++ ){
Triangles_interface[i][j] = P.Triangles_interface[i][j];
}
}
Triangles_interface_prev.resize(P.Triangles_interface_prev.size(), std::vector<Triangle_3>(0));
for(int i= 0; i< P.triangles.size(); i++){
Triangles_interface_prev[i].resize(P.Triangles_interface_prev[i].size());
for(int j=0; j<P.Triangles_interface_prev[i].size(); j++ ){
Triangles_interface_prev[i][j] = P.Triangles_interface_prev[i][j];
}
}
Position_Triangles_interface.resize(P.Position_Triangles_interface.size(), std::vector< std::vector<int> >(0));
for(int i= 0; i< P.triangles.size(); i++){
Position_Triangles_interface[i].resize(P.Position_Triangles_interface[i].size());
for(int j=0; j<P.Position_Triangles_interface[i].size(); j++ ){
Position_Triangles_interface[i][j].resize(P.Position_Triangles_interface[i][j].size());
for(int k=0; k<P.Position_Triangles_interface[i][j].size(); k++ ){
Position_Triangles_interface[i][j][k] = P.Position_Triangles_interface[i][j][k];
}
}
}
Position_Triangles_interface_prev.resize(P.Position_Triangles_interface_prev.size(), std::vector< std::vector<int> >(0));
for(int i= 0; i< P.triangles.size(); i++){
Position_Triangles_interface_prev[i].resize(P.Position_Triangles_interface_prev[i].size());
for(int j=0; j<P.Position_Triangles_interface_prev[i].size(); j++ ){
Position_Triangles_interface_prev[i][j].resize(P.Position_Triangles_interface_prev[i][j].size());
for(int k=0; k<P.Position_Triangles_interface_prev[i][j].size(); k++ ){
Position_Triangles_interface_prev[i][j][k] = P.Position_Triangles_interface_prev[i][j][k];
}
}
}
}
/*!\brief Test display function.
*/
void Particule::Affiche(){
for(int i=0; i<faces.size(); i++){
cout<<"face "<<i<<endl;
cout<<" voisin "<<faces[i].voisin<<endl;
for(int j=0; j<faces[i].size() ;j++){
cout<<" vertex "<<faces[i].vertex[j].num<<endl;
for(int k=0; k<faces[i].vertex[j].particules.size();k++){
cout<<faces[i].vertex[j].particules[k]<<endl;
}
}
}
}
/*!\brief Sign function
*/
inline double signe(const double x)
{
return (x < 0.) ? -1. : 1. ;
}
/*!\brief Time-integration of the particle position.
* \param dt Time-step
* \details \warning Uses \a Particule.Ff and \a Particule.Mf (fluid forces and torques moments fluides applied on the solid between times t and t+dt/2) \n
<b>\a Particule.Ff and \a Particule.Mf are specific coupling parameters ! </b>
* \return void
*/
void Particule::solve_position(double dt){
double rot[3][3];
if(fixe==1){
Dx = Vector_3(0.,0.,0.);
Dxprev = Vector_3(0.,0.,0.);
u = Vector_3(0.,0.,0.);
u_half = u;
e = Vector_3(0.,0.,0.);
rot[0][0] = rot[1][1]= rot[2][2] =1.;
rot[0][1]=rot[0][2]=rot[1][0]=rot[1][2]=rot[2][0]=rot[2][1]=0.;
eprev = Vector_3(0.,0.,0.);
omega = Vector_3(0.,0.,0.);
omega_half = omega;
} else {
if(fixe==0){ //fixe=0: free moving particle
Dxprev = Dx;
u = u+(Fi+Ff)/2.*(dt/m);
u_half = u;
Dx = Dx+u*dt;
}
else if(fixe==2 || fixe==3){//fixe=2: fixed particle ; fixe=3: fixee en deplacement et rotation seulement selon l'axe y
Dx = Vector_3(0.,0.,0.);
Dxprev = Vector_3(0.,0.,0.);
u = Vector_3(0.,0.,0.);
u_half = u;
}
//Check that the matrix is a rotation matrix
for(int i=0;i<3;i++){
double norm = rotref[i][0]*rotref[i][0]+rotref[i][1]*rotref[i][1]+rotref[i][2]*rotref[i][2];
if(abs(norm-1.)>eps){
cout << "Matrice de rotation rotref renomalisee" <<endl;
cout << "Ligne " << i << " norme=" << norm << endl;
}
}
double vectrot1 = rotref[0][2]-(rotref[1][0]*rotref[2][1]-rotref[2][0]*rotref[1][1]);
double vectrot2 = rotref[1][2]-(rotref[2][0]*rotref[0][1]-rotref[0][0]*rotref[2][1]);
double vectrot3 = rotref[2][2]-(rotref[0][0]*rotref[1][1]-rotref[1][0]*rotref[0][1]);
if(vectrot1*vectrot1+vectrot2*vectrot2+vectrot3*vectrot3>eps){
cout << "Erreur rotation rotref " << vectrot1 << " " << vectrot2 << " " << vectrot3 << endl;
//getchar();
}
//Computation of the total rotation matrix from the inertial frame to the current frame at time t and storage of eprev
double Q[3][3];
double e0 = sqrt(1.-CGAL::to_double(e.squared_length()));
//Recover the rotation matrix
rot[0][0] = 1.-2.*CGAL::to_double(e.operator[](1)*e.operator[](1)+e.operator[](2)*e.operator[](2));
rot[0][1] = 2.*CGAL::to_double(-e0*e.operator[](2)+e.operator[](0)*e.operator[](1));
rot[0][2] = 2.*CGAL::to_double(e0*e.operator[](1)+e.operator[](0)*e.operator[](2));
rot[1][0] = 2.*CGAL::to_double(e0*e.operator[](2)+e.operator[](1)*e.operator[](0));
rot[1][1] = 1.-2.*CGAL::to_double(e.operator[](0)*e.operator[](0)+e.operator[](2)*e.operator[](2));
rot[1][2] = 2.*CGAL::to_double(-e0*e.operator[](0)+e.operator[](1)*e.operator[](2));
rot[2][0] = 2.*CGAL::to_double(-e0*e.operator[](1)+e.operator[](2)*e.operator[](0));
rot[2][1] = 2.*CGAL::to_double(e0*e.operator[](0)+e.operator[](2)*e.operator[](1));
rot[2][2] = 1.-2.*CGAL::to_double(e.operator[](0)*e.operator[](0)+e.operator[](1)*e.operator[](1));
for(int i=0;i<3;i++){
for(int j=0;j<3;j++){
Q[i][j] = rot[i][0]*rotref[0][j];
Q[i][j] += rot[i][1]*rotref[1][j];
Q[i][j] += rot[i][2]*rotref[2][j];
}
}
eprev = e;
//Recover the global e from omega
double Omega[3];
Omega[0] = Omega[1] = Omega[2] = 0.;
for(int j=0;j<3;j++){
for(int k=0;k<3;k++){
Omega[j] += CGAL::to_double(omega.operator[](k)*Q[k][j]);
}
}
double norm = dt*(abs(Omega[0])+abs(Omega[1])+abs(Omega[2]));
if(norm>0.25){
cout << "pas de temps trop grand : dt=" << dt << " Omega=" << Omega[0] << " " << Omega[1] << " " << Omega[2] << endl;
}
double eglob0 = 1.;
double eglob[3];
for(int j=0;j<3;j++){
eglob[j] = 0.;
}
//Recover matrix Zn
double z[3][3];
z[0][0] = 0.;
z[0][1] = -Omega[2];
z[0][2] = Omega[1];
z[1][0] = Omega[2];
z[1][1] = 0.;
z[1][2] = -Omega[0];
z[2][0] = -Omega[1];
z[2][1] = Omega[0];
z[2][2] = 0.;
//Compute matrix A
double a[3];
double d1 = (I[0]+I[1]+I[2])/2.-I[0];
double d2 = (I[0]+I[1]+I[2])/2.-I[1];
double d3 = (I[0]+I[1]+I[2])/2.-I[2];
//Compute the torque in the inertial frame
double Mx = CGAL::to_double(Q[0][0]*((Mi+Mf).operator[](0))+Q[1][0]*((Mi+Mf).operator[](1))+Q[2][0]*((Mi+Mf).operator[](2)));
double My = CGAL::to_double(Q[0][1]*((Mi+Mf).operator[](0))+Q[1][1]*((Mi+Mf).operator[](1))+Q[2][1]*((Mi+Mf).operator[](2)));
double Mz = CGAL::to_double(Q[0][2]*((Mi+Mf).operator[](0))+Q[1][2]*((Mi+Mf).operator[](1))+Q[2][2]*((Mi+Mf).operator[](2)));
norm = dt*dt/2.*(abs(Mx)/I[0]+abs(My)/I[1]+abs(Mz)/I[2]);
if(norm>0.25){
cout << "The time-step is too large: dt=" << dt << " M=" << Mx << " " << My << " " << Mz << " I=" << I[0] << " " << I[1] << " " << I[2] << endl;
//getchar();