Detailed Description

Particular implementation of the collision resolution for the hard contacts.

The following code example illustrates the setup of the solver:

   cr::HCSITS hcsits(globalBodyStorage, forest->getBlockStoragePointer(), storageID, ccdID, fcdID);
   hcsits.setMaxIterations           ( uint_c(10) );
   hcsits.setRelaxationModel         ( cr::HCSITS::InelasticGeneralizedMaximumDissipationContact );
   hcsits.setRelaxationParameter     ( real_t(0.7) );
   hcsits.setErrorReductionParameter ( real_t(0.8) );
   hcsits.setGlobalLinearAcceleration( Vec3(0,0,-1) );

#include <HCSITS.h>

Inheritance diagram for walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers:

Classes
struct	BodyCache

struct	ContactCache

Public Types
enum	RelaxationModel { InelasticFrictionlessContact, ApproximateInelasticCoulombContactByDecoupling, ApproximateInelasticCoulombContactByOrthogonalProjections, InelasticCoulombContactByDecoupling, InelasticCoulombContactByOrthogonalProjections, InelasticGeneralizedMaximumDissipationContact }

Public Member Functions
Constructor
	HardContactSemiImplicitTimesteppingSolvers (const shared_ptr< BodyStorage > &globalBodyStorage, const shared_ptr< BlockStorage > &blockStorage, domain_decomposition::BlockDataID storageID, domain_decomposition::BlockDataID ccdID, domain_decomposition::BlockDataID fcdID, WcTimingTree *tt=nullptr)
	Constructor of the CollisionSystem class. More...

Destructor
	~HardContactSemiImplicitTimesteppingSolvers () override
	Destructor of the CollisionSystem class. More...

Get functions
real_t	getMaximumPenetration () const override
	Returns the maximum penetration depth found in the last collision detection. More...

size_t	getNumberOfContacts () const override
	Returns the number of contacts found by the last collision detection. More...

size_t	getNumberOfContactsTreated () const override

const std::map< IBlockID::IDType, ContactCache >	getContactCache () const

real_t	getSpeedLimitFactor () const

size_t	getMaxIterations () const

real_t	getOverRelaxationParameter () const

real_t	getRelaxationParameter () const

real_t	getErrorReductionParameter () const

RelaxationModel	getRelaxationModel () const

Set functions
void	setOverRelaxationParameter (real_t omega)
	Sets the relaxation parameter for boundary bodies. More...

void	setRelaxationParameter (real_t f)
	Sets the relaxation parameter for boundary bodies. More...

void	setMaxIterations (size_t n)
	Sets the maximum number of iterations performed by the iterative solver. More...

void	setRelaxationModel (RelaxationModel relaxationModel)
	Sets the relaxation model used by the iterative solver. More...

void	setErrorReductionParameter (real_t erp)
	Sets the error reduction parameter. More...

void	setAbortThreshold (real_t threshold)
	Sets the threshold of movement of a particle during collision resolution. More...

void	setSpeedLimiter (bool active, const real_t speedLimitFactor=real_t(0.0))
	Activates/Deactivates the speed limiter and sets the limit. More...

Query functions
bool	isSyncRequired () const
	Returns if a synchronization is required before the next time step. More...

bool	isSyncRequiredLocally () const
	Returns if a synchronization is required by the local process before the next time step. More...

bool	isSpeedLimiterActive () const
	Returns if speed limiter is currently active and working. More...

void	operator() (const real_t dt)
	forwards to timestep Convenience operator to make class a functor. More...

void	timestep (const real_t dt) override
	Advances the simulation dt seconds. More...

Public Member Functions inherited from walberla::pe::cr::ICR
	ICR ()

virtual	~ICR ()=default

void	setGlobalLinearAcceleration (const Vec3 &acc)
	Sets the global linear acceleration. More...

const Vec3 &	getGlobalLinearAcceleration () const

Private Member Functions
Simulation functions
void	resolveContacts (const Contacts &contacts, real_t dt)

real_t	relaxInelasticFrictionlessContacts (real_t dtinv, HardContactSemiImplicitTimesteppingSolvers::ContactCache &contactCache, HardContactSemiImplicitTimesteppingSolvers::BodyCache &bodyCache)
	Relaxes all contacts once. More...

real_t	relaxApproximateInelasticCoulombContactsByDecoupling (real_t dtinv, HardContactSemiImplicitTimesteppingSolvers::ContactCache &contactCache, HardContactSemiImplicitTimesteppingSolvers::BodyCache &bodyCache)
	Relaxes all contacts once. More...

real_t	relaxInelasticCoulombContactsByDecoupling (real_t dtinv, HardContactSemiImplicitTimesteppingSolvers::ContactCache &contactCache, HardContactSemiImplicitTimesteppingSolvers::BodyCache &bodyCache)
	Relaxes all contacts once. More...

real_t	relaxInelasticCoulombContactsByOrthogonalProjections (real_t dtinv, bool approximate, HardContactSemiImplicitTimesteppingSolvers::ContactCache &contactCache, HardContactSemiImplicitTimesteppingSolvers::BodyCache &bodyCache)
	Relaxes all contacts once. More...

real_t	relaxInelasticGeneralizedMaximumDissipationContacts (real_t dtinv, HardContactSemiImplicitTimesteppingSolvers::ContactCache &contactCache, HardContactSemiImplicitTimesteppingSolvers::BodyCache &bodyCache)
	Relaxes all contacts once. More...

Communication functions
void	parseVelocityCorrection (mpi::RecvBuffer &rb, BodyStorage &bodyStorage, BodyCache &bodyCache)

void	parseVelocityCorrectionShadow (mpi::RecvBuffer &rb, BodyStorage &bodyStorage, BodyCache &bodyCache)

void	synchronizeVelocities ()
	TODO. More...

Time-integration functions
void	initializeVelocityCorrections (BodyID body, Vec3 &dv, Vec3 &dw, real_t dt) const
	Calculates the initial velocity corrections of a given body. More...

void	integratePositions (BodyID body, Vec3 v, Vec3 w, real_t dt) const
	Time integration of the position and orientation of a given body. More...

Utility functions
bool	checkUpdateFlags ()

Private Member Functions inherited from walberla::NonCopyable
	NonCopyable ()=default

	~NonCopyable ()=default

Private Attributes
std::map< IBlockID::IDType, BodyCache >	blockToBodyCache_

std::map< IBlockID::IDType, ContactCache >	blockToContactCache_

Member variables
shared_ptr< BodyStorage >	globalBodyStorage_

shared_ptr< BlockStorage >	blockStorage_

domain_decomposition::BlockDataID	storageID_

domain_decomposition::BlockDataID	ccdID_

domain_decomposition::BlockDataID	fcdID_

WcTimingTree *	tt_

real_t	erp_
	The error reduction parameter (0 <= erp_ <= 1). More...

size_t	maxIterations_
	Maximum number of iterations. More...

size_t	iteration_

size_t	maxSubIterations_
	Maximum number of iterations of iterative solvers in the one-contact problem. More...

real_t	abortThreshold_
	If L-infinity iterate difference drops below this threshold the iteration is aborted. More...

RelaxationModel	relaxationModel_
	The method used to relax unilateral contacts. More...

real_t	overRelaxationParam_
	Parameter specifying the convergence speed for orthogonal projection models. More...

real_t	relaxationParam_
	Parameter specifying underrelaxation of velocity corrections for boundary bodies. More...

real_t	maximumPenetration_

size_t	numContacts_

size_t	numContactsTreated_

bool	speedLimiterActive_
	is the speed limiter active? More...

real_t	speedLimitFactor_
	what multiple of boundingbox edge length is the body allowed to travel in one timestep More...

bool	requireSync_
	Flag indicating whether this process requires a synchronization prior to the next time step. More...

Member Enumeration Documentation

◆ RelaxationModel

enum walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::RelaxationModel

Enumerator
InelasticFrictionlessContact
ApproximateInelasticCoulombContactByDecoupling
ApproximateInelasticCoulombContactByOrthogonalProjections
InelasticCoulombContactByDecoupling
InelasticCoulombContactByOrthogonalProjections
InelasticGeneralizedMaximumDissipationContact

Constructor & Destructor Documentation

◆ HardContactSemiImplicitTimesteppingSolvers()

walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::HardContactSemiImplicitTimesteppingSolvers	(	const shared_ptr< BodyStorage > &	globalBodyStorage,
		const shared_ptr< BlockStorage > &	blockStorage,
		domain_decomposition::BlockDataID	storageID,
		domain_decomposition::BlockDataID	ccdID,
		domain_decomposition::BlockDataID	fcdID,
		WcTimingTree *	tt = `nullptr`
	)

inlineexplicit

Constructor of the CollisionSystem class.

◆ ~HardContactSemiImplicitTimesteppingSolvers()

walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::~HardContactSemiImplicitTimesteppingSolvers ( )

inlineoverride

Destructor of the CollisionSystem class.

Member Function Documentation

◆ checkUpdateFlags()

bool walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::checkUpdateFlags ( )

private

◆ getContactCache()

const std::map<IBlockID::IDType, ContactCache> walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::getContactCache ( ) const

inline

◆ getErrorReductionParameter()

real_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::getErrorReductionParameter ( ) const

inline

◆ getMaximumPenetration()

real_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::getMaximumPenetration ( ) const

inlineoverridevirtual

Returns the maximum penetration depth found in the last collision detection.

Returns: The maximum penetration depth found in the last collision detection.

Only contacts treated on the local process are considered.

Reimplemented from walberla::pe::cr::ICR.

◆ getMaxIterations()

size_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::getMaxIterations ( ) const

inline

◆ getNumberOfContacts()

size_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::getNumberOfContacts ( ) const

inlineoverridevirtual

Returns the number of contacts found by the last collision detection.

Returns: The number of contacts found by the last collision detection.

Only contacts treated on the local process are counted.

Reimplemented from walberla::pe::cr::ICR.

◆ getNumberOfContactsTreated()

size_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::getNumberOfContactsTreated ( ) const

inlineoverridevirtual

Reimplemented from walberla::pe::cr::ICR.

◆ getOverRelaxationParameter()

real_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::getOverRelaxationParameter ( ) const

inline

◆ getRelaxationModel()

RelaxationModel walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::getRelaxationModel ( ) const

inline

◆ getRelaxationParameter()

real_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::getRelaxationParameter ( ) const

inline

◆ getSpeedLimitFactor()

real_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::getSpeedLimitFactor ( ) const

inline

◆ initializeVelocityCorrections()

void walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::initializeVelocityCorrections	(	BodyID	body,
		Vec3 &	dv,
		Vec3 &	dw,
		real_t	dt
	)		const

inlineprivate

Calculates the initial velocity corrections of a given body.

Parameters

body	The body whose velocities to time integrate
dv	On return the initial linear velocity correction.
dw	On return the initial angular velocity correction.
dt	The time step size.

Returns: void

Calculates the velocity corrections effected by external forces and torques in an explicit Euler time integration of the velocities of the given body. For fixed objects the velocity corrections are set to zero. External forces and torques are reset if indicated by the settings.

◆ integratePositions()

void walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::integratePositions	(	BodyID	body,
		Vec3	v,
		Vec3	w,
		real_t	dt
	)		const

inlineprivate

Time integration of the position and orientation of a given body.

Parameters

body	The body whose position and orientation to time integrate
v	The linear velocity to use for time integration of the position.
w	The angular velocity to use for time integration of the orientation.
dt	The time step size.

Returns: void

Performs an Euler time integration of the positions of the given body. Velocities are damped if indicated by the settings and stored back in the body properties. The bounding box is recalculated and it is redetermined whether the body is awake or not. Also the data structure tracking the contacts attached to the body are cleared and

◆ isSpeedLimiterActive()

bool walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::isSpeedLimiterActive ( ) const

inline

Returns if speed limiter is currently active and working.

Returns: status of the speed limiter

◆ isSyncRequired()

bool walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::isSyncRequired ( ) const

inline

Returns if a synchronization is required before the next time step.

Returns: True if a synchronization is strictly required, false if a synchronization is possibly required for correct dynamics but not enforced.

Insertion or removal of bodies from the simulation can require a subsequent synchronization before performing the next time step. If e.g. no other process obtained a shadow copy of a body to be removed then a synchronization is not enforced. However, if a neighbor has a shadow copy a synchronization is required. Changing e.g. velocities or positions can lead to inconsistent descriptions of bodies across process boundaries but synchronization is not enforced. In this case it is the users obligation to synchronize whenever necessary.

WARNING: This query function uses an expensive allreduce MPI operation to determine the result!

◆ isSyncRequiredLocally()

bool walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::isSyncRequiredLocally ( ) const

inline

Returns if a synchronization is required by the local process before the next time step.

Returns: True if a synchronization is strictly required by the local process, false otherwise.

Insertion or removal of bodies from the simulation can require a subsequent synchronization before performing the next time step. If e.g. no other process obtained a shadow copy of a body to be removed then a synchronization is not enforced. However, if a neighbor has a shadow copy a synchronization is required. Changing e.g. velocities or positions can lead to inconsistent descriptions of bodies across process boundaries but synchronization is not enforced. In this case it is the users obligation to synchronize whenever necessary.

◆ operator()()

void walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::operator() ( const real_t dt )

inline

forwards to timestep Convenience operator to make class a functor.

◆ parseVelocityCorrection()

void walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::parseVelocityCorrection	(	mpi::RecvBuffer &	rb,
		BodyStorage &	bodyStorage,
		BodyCache &	bodyCache
	)

inlineprivate

◆ parseVelocityCorrectionShadow()

void walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::parseVelocityCorrectionShadow	(	mpi::RecvBuffer &	rb,
		BodyStorage &	bodyStorage,
		BodyCache &	bodyCache
	)

inlineprivate

◆ relaxApproximateInelasticCoulombContactsByDecoupling()

real_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::relaxApproximateInelasticCoulombContactsByDecoupling	(	real_t	dtinv,
		HardContactSemiImplicitTimesteppingSolvers::ContactCache &	contactCache,
		HardContactSemiImplicitTimesteppingSolvers::BodyCache &	bodyCache
	)

inlineprivate

Relaxes all contacts once.

The contact model is for inelastic unilateral contacts with approximate Coulomb friction.

Returns: The largest variation of contact impulses in the L-infinity norm.

This function is to be called from resolveContacts(). Separating contacts are preferred over other solutions if valid. Static solutions are preferred over dynamic solutions. Dynamic solutions are computed by decoupling the normal from the frictional components. That is for a dynamic contact the normal component is relaxed first followed by the frictional components. The determination of the frictional components does not perform any subiterations and guarantees that the friction partially opposes slip.

◆ relaxInelasticCoulombContactsByDecoupling()

real_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::relaxInelasticCoulombContactsByDecoupling	(	real_t	dtinv,
		HardContactSemiImplicitTimesteppingSolvers::ContactCache &	contactCache,
		HardContactSemiImplicitTimesteppingSolvers::BodyCache &	bodyCache
	)

inlineprivate

Relaxes all contacts once.

The contact model is for inelastic unilateral contacts with Coulomb friction.

Returns: The largest variation of contact impulses in the L-infinity norm.

This function is to be called from resolveContacts(). Separating contacts are preferred over other solutions if valid. Static solutions are preferred over dynamic solutions. Dynamic solutions are computed by decoupling the normal from the frictional components. That is for a dynamic contact the normal component is relaxed first followed by the frictional components. How much the frictional components directly oppose slip as required by the Coulomb friction model depends on the number of subiterations performed. If no subiterations are performed the friction is guaranteed to be at least partially dissipative.

◆ relaxInelasticCoulombContactsByOrthogonalProjections()

real_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::relaxInelasticCoulombContactsByOrthogonalProjections	(	real_t	dtinv,
		bool	approximate,
		HardContactSemiImplicitTimesteppingSolvers::ContactCache &	contactCache,
		HardContactSemiImplicitTimesteppingSolvers::BodyCache &	bodyCache
	)

inlineprivate

Relaxes all contacts once.

The contact model is for inelastic unilateral contacts with Coulomb friction.

Parameters

dtinv	The inverse of the current time step.
approximate	Use the approximate model showing bouncing.

Returns: The largest variation of contact impulses in the L-infinity norm.

This function is to be called from resolveContacts(). The iterative method to solve the contact problem is e.g. described in the article "A matrix-free cone complementarity approach for solving large-scale, nonsmooth, rigid body dynamics" by A. Tasora and M. Anitescu in Computer Methods in Applied Mechanics and Engineering (Volume 200, Issues 5–8, 15 January 2011, Pages 439-453). The contact model is purely quadratic and convergence should be good but depends on a parameter. The one-contact problem has a unique solution. The frictional reactions for a dynamic contact converge to those that directly oppose slip. However, the contact is not perfectly inelastic for dynamic contacts but bounces. These vertical motions tend to go to zero for smaller time steps and can be interpreted as exaggerated vertical motions coming from micro asperities (see "Optimization-based simulation of nonsmooth rigid multibody dynamics" by M. Anitescu in Mathematical Programming (Volume 105, Issue 1, January 2006, Pages 113-143). These motions can be prevented by a small change in the iteration proposed in "The bipotential method: a constructive approach to design the complete contact law with friction and improved numerical algorithms" by G. De Saxce and Z-Q. Feng in Mathematical and Computer Modelling (Volume 28, Issue 4, 1998, Pages 225-245). Which iteration is used is controlled with the approximate parameter.

◆ relaxInelasticFrictionlessContacts()

real_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::relaxInelasticFrictionlessContacts	(	real_t	dtinv,
		HardContactSemiImplicitTimesteppingSolvers::ContactCache &	contactCache,
		HardContactSemiImplicitTimesteppingSolvers::BodyCache &	bodyCache
	)

inlineprivate

Relaxes all contacts once.

The contact model is for inelastic unilateral contacts without friction.

Returns: The largest variation of contact impulses in the L-infinity norm.

This function is to be called from resolveContacts(). Separating contacts are preferred over persisting solutions if valid.

◆ relaxInelasticGeneralizedMaximumDissipationContacts()

real_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::relaxInelasticGeneralizedMaximumDissipationContacts	(	real_t	dtinv,
		HardContactSemiImplicitTimesteppingSolvers::ContactCache &	contactCache,
		HardContactSemiImplicitTimesteppingSolvers::BodyCache &	bodyCache
	)

inlineprivate

Relaxes all contacts once.

The contact model is for inelastic unilateral contacts with the generalized maximum dissipation principle for friction.

Returns: The largest variation of contact impulses in the L-infinity norm.

This function is to be called from resolveContacts(). Dynamic solutions are computed by minimizing the kinetic energy along the intersection of the plane of maximum compression and the friction cone.

◆ resolveContacts()

void walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::resolveContacts	(	const Contacts &	contacts,
		real_t	dt
	)

private

◆ setAbortThreshold()

void walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::setAbortThreshold ( real_t threshold )

inline

Sets the threshold of movement of a particle during collision resolution.

Parameters

threshold If movement is smaller than threshold, col. resolution is stopped.

Returns: void

◆ setErrorReductionParameter()

void walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::setErrorReductionParameter ( real_t erp )

inline

Sets the error reduction parameter.

Parameters

erp	The error reduction parameter.

Returns: void

If body shapes overlap by x at a contact then the contact resolution aims to remove erp*x of the overlap. Thus the error reduction parameter must be between 0 and 1. 0 corresponds to no error reduction and is the default. 1 corresponds to full error reduction. Note that error reduction (constraint stabilization) introduces additional energy to the system.

◆ setMaxIterations()

void walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::setMaxIterations ( size_t n )

inline

Sets the maximum number of iterations performed by the iterative solver.

Parameters

n	The maximum number of iterations.

Returns: void

◆ setOverRelaxationParameter()

void walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::setOverRelaxationParameter ( real_t omega )

inline

Sets the relaxation parameter for boundary bodies.

Parameters

omega The overrelaxation parameter.

Returns: void

The overrelaxation parameter omega is only used when the relaxation model is one of

ApproximateInelasticCoulombContactByOrthogonalProjections
InelasticCoulombContactByOrthogonalProjections

It is used to control the convergence of the model. Large values show faster convergence, but they can also lead to divergence ("exploding" particles). The default value is 1.0.

◆ setRelaxationModel()

void walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::setRelaxationModel ( RelaxationModel relaxationModel )

inline

Sets the relaxation model used by the iterative solver.

Parameters

relaxationModel The relaxation model to be used by the iterative solver.

Returns: void

◆ setRelaxationParameter()

void walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::setRelaxationParameter ( real_t f )

inline

Sets the relaxation parameter for boundary bodies.

Parameters

f	The relaxation parameter.

Returns: void

The iterative solvers are a mixture of non-linear Gauss-Seidel and Jacobi solvers. This might require underrelaxation. The parameter must be positive. Note that for dilute systems the solver might need stronger underrelaxation (smaller f) than for dense systems.

◆ setSpeedLimiter()

void walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::setSpeedLimiter	(	bool	active,
		const real_t	speedLimitFactor = `real_t(0.0)`
	)

inline

Activates/Deactivates the speed limiter and sets the limit.

Parameters

active	activate/deactivate speed limiter
speedLimitFactor	size of bounding box will be multiplied by this factor to get the maximal distance a body is allowed to travel within one timestep

Returns: void

◆ synchronizeVelocities()

void walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::synchronizeVelocities ( )

inlineprivate

TODO.

Returns: void

◆ timestep()

void walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::timestep ( const real_t dt )

inlineoverridevirtual

Advances the simulation dt seconds.

Runs the simulation for one timestep.

Parameters

dt	Size of the time step.

Returns: void

Implements walberla::pe::cr::ICR.

Member Data Documentation

◆ abortThreshold_

real_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::abortThreshold_

private

If L-infinity iterate difference drops below this threshold the iteration is aborted.

◆ blockStorage_

shared_ptr<BlockStorage> walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::blockStorage_

private

◆ blockToBodyCache_

std::map<IBlockID::IDType, BodyCache> walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::blockToBodyCache_

private

◆ blockToContactCache_

std::map<IBlockID::IDType, ContactCache> walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::blockToContactCache_

private

◆ ccdID_

domain_decomposition::BlockDataID walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::ccdID_

private

◆ erp_

real_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::erp_

private

The error reduction parameter (0 <= erp_ <= 1).

◆ fcdID_

domain_decomposition::BlockDataID walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::fcdID_

private

◆ globalBodyStorage_

shared_ptr<BodyStorage> walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::globalBodyStorage_

private

◆ iteration_

size_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::iteration_

private

◆ maximumPenetration_

real_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::maximumPenetration_

private

◆ maxIterations_

size_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::maxIterations_

private

Maximum number of iterations.

◆ maxSubIterations_

size_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::maxSubIterations_

private

Maximum number of iterations of iterative solvers in the one-contact problem.

◆ numContacts_

size_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::numContacts_

private

◆ numContactsTreated_

size_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::numContactsTreated_

private

◆ overRelaxationParam_

real_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::overRelaxationParam_

private

Parameter specifying the convergence speed for orthogonal projection models.

◆ relaxationModel_

RelaxationModel walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::relaxationModel_

private

The method used to relax unilateral contacts.

◆ relaxationParam_

real_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::relaxationParam_

private

Parameter specifying underrelaxation of velocity corrections for boundary bodies.

◆ requireSync_

bool walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::requireSync_

private

Flag indicating whether this process requires a synchronization prior to the next time step.

◆ speedLimiterActive_

bool walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::speedLimiterActive_

private

is the speed limiter active?

◆ speedLimitFactor_

real_t walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::speedLimitFactor_

private

what multiple of boundingbox edge length is the body allowed to travel in one timestep

◆ storageID_

domain_decomposition::BlockDataID walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::storageID_

private

◆ tt_

WcTimingTree* walberla::pe::cr::HardContactSemiImplicitTimesteppingSolvers::tt_

private

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

/builds/administration/walberla-website/walberla/src/pe/cr/HCSITS.h
/builds/administration/walberla-website/walberla/src/pe/cr/HCSITS.impl.h

Detailed Description

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Member Enumeration Documentation

◆ RelaxationModel

Constructor & Destructor Documentation

◆ HardContactSemiImplicitTimesteppingSolvers()

◆ ~HardContactSemiImplicitTimesteppingSolvers()

Member Function Documentation

◆ checkUpdateFlags()

◆ getContactCache()

◆ getErrorReductionParameter()

◆ getMaximumPenetration()

◆ getMaxIterations()

◆ getNumberOfContacts()

◆ getNumberOfContactsTreated()

◆ getOverRelaxationParameter()

◆ getRelaxationModel()

◆ getRelaxationParameter()

◆ getSpeedLimitFactor()

◆ initializeVelocityCorrections()

◆ integratePositions()

◆ isSpeedLimiterActive()

◆ isSyncRequired()

◆ isSyncRequiredLocally()

◆ operator()()

◆ parseVelocityCorrection()

◆ parseVelocityCorrectionShadow()

◆ relaxApproximateInelasticCoulombContactsByDecoupling()

◆ relaxInelasticCoulombContactsByDecoupling()

◆ relaxInelasticCoulombContactsByOrthogonalProjections()

◆ relaxInelasticFrictionlessContacts()

◆ relaxInelasticGeneralizedMaximumDissipationContacts()

◆ resolveContacts()

◆ setAbortThreshold()

◆ setErrorReductionParameter()

◆ setMaxIterations()

◆ setOverRelaxationParameter()

◆ setRelaxationModel()

◆ setRelaxationParameter()

◆ setSpeedLimiter()

◆ synchronizeVelocities()

◆ timestep()

Member Data Documentation

◆ abortThreshold_

◆ blockStorage_

◆ blockToBodyCache_

◆ blockToContactCache_

◆ ccdID_

◆ erp_

◆ fcdID_

◆ globalBodyStorage_

◆ iteration_

◆ maximumPenetration_

◆ maxIterations_

◆ maxSubIterations_

◆ numContacts_

◆ numContactsTreated_

◆ overRelaxationParam_

◆ relaxationModel_

◆ relaxationParam_

◆ requireSync_

◆ speedLimiterActive_

◆ speedLimitFactor_

◆ storageID_

◆ tt_