Detailed Description

Plane geometry.

The Plane class represents the geometric primitive plane, which is one of the basic geometric primitives of the pe module. The class is derived from the GeomPrimitive base class, which makes the plane both a geometric primitive and a rigid body.
The plane geometry is an infinite rigid body dividing the global space in two half spaces. One of these half spaces is considered to be inside the plane. Bodies entering this half space are therefore colliding with the plane. The other half space is considered to be outside the plane. The plane is represented by the following equation:

                           \f[ ax + by + cz = d , \f]

where a, b and c are the x, y and z component of the normal vector. The normal n of the plane is a normalized vector that points towards the half space outside the plane. d is the distance/displacement from the origin of the global world frame to the plane. A positive value of d indicates that the origin of the global world frame is inside the plane, whereas a negative value of d indicates that the origin is outside the plane. A value of 0 therefore indicates that the origin is on the surface of the plane. The global position \( (x,y,z) \) of the plane can be considered the anchor point of the plane. Rotations that are performed via the setOrientation() or the rotate() functions rotate the plane around this anchor point.

#include <Plane.h>

Inheritance diagram for walberla::pe::Plane:

Public Member Functions
Constructor
	Plane (id_t sid, id_t uid, const Vec3 &gpos, const Vec3 &normal, real_t d, MaterialID material)
	Constructor for the Plane class. More...

Destructor
	~Plane () override
	Destructor for the PlaneBase class. More...

Get functions
real_t	getVolume () const override
	Returns the volume of the plane. More...

const Vec3 &	getNormal () const
	Returns the normal of the plane in reference to the global world frame. More...

real_t	getDisplacement () const
	Returns the displacement/distance from the origin of the global world frame. More...

Output functions
void	print (std::ostream &os, const char *tab) const override
	Output of the current state of a plane. More...

Public Member Functions inherited from walberla::pe::GeomPrimitive
MaterialID	getMaterial () const
	Returns the material of the geometric primitive. More...

Public Member Functions inherited from walberla::pe::RigidBody
virtual	~RigidBody ()=0
	Destructor for the RigidBody class. More...

void	wake ()
	Waking the rigid body and ending the sleep mode. More...

void	calcMotion ()
	Calculating the current motion of a rigid body. More...

bool	hasManager () const
	Returns whether the rigid body currently has a supervising rigid body manager. More...

ManagerID	getManager ()
	Returns the supervising rigid body manager of the rigid body. More...

ConstManagerID	getManager () const

bool	hasSuperBody () const
	Returns whether the rigid body is contained in a superordinate body. More...

BodyID	getSuperBody ()
	Returns the superordinate body in which the rigid body is contained. More...

ConstBodyID	getSuperBody () const

BodyID	getTopSuperBody ()
	Returns the top level superordinate body in which the rigid body is contained. More...

ConstBodyID	getTopSuperBody () const

virtual bool	hasSubBodies () const

bool	isFinite () const
	Returns whether the rigid body is finite or not. More...

bool	isAwake () const
	Returns whether the rigid body is awake or not. More...

bool	isFixed () const
	Returns whether the rigid body's position is fixed or not. More...

bool	hasInfiniteMass () const
	Checks if a body is "mobile" e.g. More...

bool	isVisible () const
	Returns whether the rigid body is visible or not. More...

bool	isMarkedForDeletion () const

id_t	getSystemID () const
	Returns the unique system-specific ID of the rigid body. More...

id_t	getID () const
	Returns the user-specific ID of the rigid body. More...

const Vec3	getRelPosition () const
	Returns the relative position of the rigid body within the superordinate body. More...

const Vec3	getPosition () const
	Returns the global position of the center of mass of the rigid body. More...

const Vec3	getBodyLinearVel () const
	Returns the relative linear velocity of the rigid body. More...

const Vec3	getLinearVel () const
	Returns the global linear velocity of the rigid body. More...

const Vec3	getBodyAngularVel () const
	Returns the relative angular velocity. More...

const Vec3 &	getAngularVel () const
	Returns the global angular velocity. More...

const Quat	getRelQuaternion () const
	Returns the relative orientation of the rigid body to its superbody. More...

const Quat	getQuaternion () const
	Returns the orientation of the rigid body. More...

const Mat3	getRotation () const
	Returns the rotation of the rigid body. More...

real_t	getMass () const
	Returns the total mass of the rigid body. More...

real_t	getInvMass () const
	Returns the inverse total mass of the rigid body. More...

const Mat3 &	getBodyInertia () const
	Returns the moment of inertia in reference to the body frame of the rigid body. More...

const Mat3	getInertia () const
	Returns the moment of inertia in reference to the global world frame. More...

const Mat3 &	getInvBodyInertia () const
	Returns the inverse moment of inertia in reference to the body frame of the rigid body. More...

const Mat3	getInvInertia () const
	Returns the inverse moment of inertia in reference to the global world frame. More...

const AABB &	getAABB () const
	Returns the axis-aligned bounding box of the rigid body. More...

real_t	getAABBSize () const
	Returns the length of the longest side of the AABB of the rigid body. More...

real_t	getKineticEnergy () const
	Returns the kinetic energy of the rigid body. More...

real_t	getRotationalEnergy () const
	Returns the rotational energy of the rigid body. More...

real_t	getEnergy () const
	Returns the energy of the rigid body. More...

const Vec3	vectorFromBFtoWF (real_t vx, real_t vy, real_t vz) const
	Transformation from a relative to a global vector. More...

const Vec3	vectorFromBFtoWF (const Vec3 &v) const
	Transformation from a relative to a global vector. More...

const Vec3	pointFromBFtoWF (real_t px, real_t py, real_t pz) const
	Transformation from a relative to a global coordinate. More...

const Vec3	pointFromBFtoWF (const Vec3 &rpos) const
	Transformation from a relative to a global coordinate. More...

virtual Vec3	velFromBF (real_t px, real_t py, real_t pz) const
	Calculation of the global velocity of a relative point. More...

virtual Vec3	velFromBF (const Vec3 &rpos) const
	Calculation of the global velocity of a relative point. More...

const Vec3	vectorFromWFtoBF (real_t vx, real_t vy, real_t vz) const
	Transformation from a global to a relative vector. More...

const Vec3	vectorFromWFtoBF (const Vec3 &v) const
	Transformation from a global to a relative vector. More...

const Vec3	pointFromWFtoBF (real_t px, real_t py, real_t pz) const
	Transformation from a global to a relative coordinate. More...

const Vec3	pointFromWFtoBF (const Vec3 &gpos) const
	Transformation from a global to a relative coordinate. More...

virtual Vec3	velFromWF (real_t px, real_t py, real_t pz) const
	Calculation of the global velocity of a point in global coordinates. More...

virtual Vec3	velFromWF (const Vec3 &gpos) const
	Calculation of the global velocity of a point in global coordinates. More...

const Vec3	accFromWF (real_t px, real_t py, real_t pz) const
	Calculation of the global acceleration of a point in global coordinates. More...

const Vec3	accFromWF (const Vec3 &gpos) const
	Calculation of the global acceleration of a point in global coordinates. More...

id_t	getTypeID () const

void	translate (real_t dx, real_t dy, real_t dz)
	Translation of the center of mass of the rigid body by the displacement vector. More...

void	translate (const Vec3 &dp)
	Translation of the center of mass of the rigid body by the displacement vector dp. More...

void	rotate (real_t x, real_t y, real_t z, real_t angle)
	Rotation of the rigid body around the global rotation axis (x,y,z) by the rotation angle angle. More...

void	rotate (const Vec3 &axis, real_t angle)
	Rotation of the rigid body around the specified global rotation axis by the rotation. More...

void	rotate (real_t xangle, real_t yangle, real_t zangle)
	Rotation of the rigid body by the Euler angles xangle, yangle and zangle. More...

void	rotate (const Vec3 &euler)
	Rotation of the rigid body by the Euler angles euler. More...

void	rotate (const Quat &dq)
	Rotation of the rigid body by the quaternion dq. More...

void	rotateAroundOrigin (real_t x, real_t y, real_t z, real_t angle)
	Rotation of the rigid body around the origin of the global world frame. More...

void	rotateAroundOrigin (const Vec3 &axis, real_t angle)
	Rotation of the rigid body around the origin of the global world frame. More...

void	rotateAroundOrigin (real_t xangle, real_t yangle, real_t zangle)
	Rotation of the rigid body around the origin of the global world frame. More...

void	rotateAroundOrigin (const Vec3 &euler)
	Rotation of the rigid body around the origin of the global world frame. More...

void	rotateAroundOrigin (const Quat &dq)
	Rotation of the rigid body around the origin of the global world frame. More...

void	rotateAroundPoint (const Vec3 &point, const Vec3 &axis, real_t angle)
	Rotation of the rigid body around a specific global coordinate. More...

void	rotateAroundPoint (const Vec3 &point, const Vec3 &euler)
	Rotation of the rigid body around a specific global coordinate. More...

bool	containsRelPoint (real_t px, real_t py, real_t pz) const
	Checks, whether a point in body relative coordinates lies inside the rigid body. More...

bool	containsRelPoint (const Vec3 &rpos) const
	Checks, whether a point in body relative coordinates lies inside the rigid body. More...

bool	containsPoint (real_t px, real_t py, real_t pz) const
	Checks, whether a point in global coordinates lies inside the rigid body. More...

bool	containsPoint (const Vec3 &gpos) const
	Checks, whether a point in global coordinates lies inside the rigid body. More...

bool	isSurfaceRelPoint (real_t px, real_t py, real_t pz) const
	Checks, whether a point in relative coordinates lies on the surface of the rigid body. More...

bool	isSurfaceRelPoint (const Vec3 &rpos) const
	Checks, whether a point in body relative coordinates lies on the surface of the rigid body. More...

bool	isSurfacePoint (real_t px, real_t py, real_t pz) const
	Checks, whether a point in global coordinates lies on the surface of the rigid body. More...

bool	isSurfacePoint (const Vec3 &gpos) const
	Checks, whether a point in global coordinates lies on the surface of the rigid body. More...

virtual Vec3	support (const Vec3 &d) const
	Estimates the point which is farthest in direction d. More...

virtual Vec3	supportContactThreshold (const Vec3 &d) const
	Estimates the point which is farthest in direction d. More...

bool	hasForce () const
	Returns whether the rigid body has non-zero acting forces or torques. More...

const Vec3 &	getForce () const
	Returns the current force acting on the body's center of mass. More...

const Vec3 &	getTorque () const
	Returns the current torque acting on the body's center of mass. More...

void	setForce (const Vec3 &f)
	Set the force acting at the body's center of mass. More...

void	setTorque (const Vec3 &tau)
	Set the torque acting at the body's center of mass. More...

void	addRelForce (real_t fx, real_t fy, real_t fz)
	Increases the total force acting in the body's center of mass. More...

void	addRelForce (const Vec3 &f)
	Increases the force acting in the body's center of mass. More...

void	addForce (real_t fx, real_t fy, real_t fz)
	Increases the force acting in the body's center of mass. More...

void	addForce (const Vec3 &f)
	Increases the force acting in the body's center of mass. More...

void	addRelForceAtRelPos (real_t fx, real_t fy, real_t fz, real_t px, real_t py, real_t pz)
	Increases the force acting in the body's center of mass. More...

void	addRelForceAtRelPos (const Vec3 &f, const Vec3 &rpos)
	Increases the force acting in the body's center of mass. More...

void	addRelForceAtPos (real_t fx, real_t fy, real_t fz, real_t px, real_t py, real_t pz)
	Increases the force acting in the body's center of mass. More...

void	addRelForceAtPos (const Vec3 &f, const Vec3 &gpos)
	Increases the force acting in the body's center of mass. More...

void	addForceAtRelPos (real_t fx, real_t fy, real_t fz, real_t px, real_t py, real_t pz)
	Increases the force acting in the body's center of mass. More...

void	addForceAtRelPos (const Vec3 &f, const Vec3 &rpos)
	Increases the force acting in the body's center of mass. More...

void	addForceAtPos (real_t fx, real_t fy, real_t fz, real_t px, real_t py, real_t pz)
	Increases the force acting in the body's center of mass. More...

void	addForceAtPos (const Vec3 &f, const Vec3 &gpos)
	Increases the force acting in the body's center of mass. More...

void	addTorque (real_t tx, real_t ty, real_t tz)
	Increasing the torque acting in the body's center of mass. More...

void	addTorque (const Vec3 &t)
	Increasing the torque acting in the body's center of mass. More...

virtual void	resetForceAndTorque ()
	Resetting all acting forces and torques from the rigid body. More...

void	addImpulse (real_t jx, real_t jy, real_t jz)
	Applying an impulse in the body's center of mass. More...

void	addImpulse (const Vec3 &j)
	Applying an impulse in the body's center of mass. More...

void	addImpulseAtPos (real_t jx, real_t jy, real_t jz, real_t px, real_t py, real_t pz)
	Applying an impulse at the given global coordinate. More...

void	addImpulseAtPos (const Vec3 &j, const Vec3 &p)
	Applying an impulse at the given global coordinate. More...

bool	isRemote () const
	Returns whether the rigid body is remote or not. More...

virtual void	setRemote (bool remote)
	Setting the remote flag of the rigid body. More...

bool	isGlobal () const
	Returns whether the rigid body is global or not. More...

void	setGlobal (const bool global)
	Setting the global flag of the rigid body. More...

bool	isCommunicating () const
	Returns whether the rigid body is local or not. More...

void	setCommunicating (const bool communicating)
	Setting the local flag of the rigid body. More...

virtual bool	checkInvariants ()
	Checks the validity of the state of the rigid body. More...

void	setSB (BodyID body)
	Sets the super body for the current body. More...

void	resetSB ()
	Resets the super body for the current body. More...

void	setFinite (const bool finite)

void	setVisible (bool visible)
	Setting the rigid body visible/invisible. More...

void	setPosition (real_t px, real_t py, real_t pz)
	Setting the global position of the rigid body. More...

void	setPosition (const Vec3 &gpos)
	Setting the global position of the rigid body. More...

void	setRelPosition (const Vec3 &gpos)
	Setting the global position of the rigid body. More...

void	setOrientation (real_t r, real_t i, real_t j, real_t k)
	Setting the global orientation of the rigid body. More...

void	setOrientation (const Quat &q)
	Setting the global orientation of the rigid body. More...

void	setRelOrientation (const Quat &q)
	Setting the relative position of the rigid body. More...

void	setMassAndInertiaToInfinity ()
	Setting the mass to infinity. This will also make the inertia tensor infinite. More...

void	setRelLinearVel (real_t vx, real_t vy, real_t vz)
	Setting the relative linear velocity of the rigid body. More...

void	setRelLinearVel (const Vec3 &lvel)

void	setLinearVel (real_t vx, real_t vy, real_t vz)
	Setting the global linear velocity of the rigid body. More...

void	setLinearVel (const Vec3 &lvel)
	/see setLinearVel( real_t vx, real_t vy, real_t vz ) More...

void	setRelAngularVel (real_t ax, real_t ay, real_t az)
	Setting the relative angular velocity of the rigid body. More...

void	setRelAngularVel (const Vec3 &avel)
	/see setRelAngularVel( real_t ax, real_t ay, real_t az ) More...

void	setAngularVel (real_t ax, real_t ay, real_t az)
	Setting the global angular velocity of the rigid body. More...

void	setAngularVel (const Vec3 &avel)
	/see setAngularVel( real_t ax, real_t ay, real_t az ) More...

void	markForDeletion ()
	Marks the rigid body for deletion during the next synchronization. More...

Public Member Functions inherited from walberla::pe::ccd::HashGridsBodyTrait
void *	getGrid () const
	Returns the grid the rigid body is currently assigned to. More...

size_t	getHash () const
	Returns the current hash value of the rigid body. More...

size_t	getCellId () const
	Returns the current body container index within the cell the body is currently assigned to. More...

void	setGrid (void *grid)
	Setting the grid the rigid body is associated with. More...

void	setHash (size_t hash)
	Setting the hash value of the rigid body. More...

void	setCellId (size_t cell)
	Setting the body container index within the cell the body is currently assigned to. More...

Utility functions
real_t	getRelDepth (real_t px, real_t py, real_t pz) const
	Calculates the depth of a point relative to the plane's frame of reference. More...

real_t	getRelDepth (const Vec3 &rpos) const
	Calculates the depth of a point relative to the plane's frame of reference. More...

real_t	getDepth (real_t px, real_t py, real_t pz) const
	Calculates the depth of a point in global coordinates. More...

real_t	getDepth (const Vec3 &gpos) const
	Calculates the depth of a point in global coordinates. More...

real_t	getRelDistance (real_t px, real_t py, real_t pz) const
	Calculates the distance of a point relative to the plane's frame of reference. More...

real_t	getRelDistance (const Vec3 &rpos) const
	Calculates the distance of a point relative to the plane's frame of reference. More...

real_t	getDistance (real_t px, real_t py, real_t pz) const
	Calculates the distance of a point in global coordinates. More...

real_t	getDistance (const Vec3 &gpos) const
	Calculates the distance of a point in global coordinates. More...

static id_t	getStaticTypeID ()
	Returns unique type id of this type. More...

void	setPositionImpl (real_t px, real_t py, real_t pz) override
	Setting the global position of the plane. More...

void	setOrientationImpl (real_t r, real_t i, real_t j, real_t k) override
	Setting the global orientation of the plane. More...

void	translateImpl (real_t dx, real_t dy, real_t dz) override
	Translation of the global position of the plane by the displacement vector. More...

void	rotateImpl (const Quat &dq) override
	Rotation of the plane by the quaternion dq. More...

void	rotateAroundOriginImpl (const Quat &dq) override
	Rotation of the plane around the origin of the global world frame. More...

void	rotateAroundPointImpl (const Vec3 &point, const Quat &dq) override
	Rotation of the plane around a specific global coordinate. More...

bool	containsRelPointImpl (real_t px, real_t py, real_t pz) const override
	Checks, whether a point in body relative coordinates lies inside the plane. More...

bool	isSurfaceRelPointImpl (real_t px, real_t py, real_t pz) const override
	Checks, whether a point in body relative coordinates lies on the plane. More...

void	calcBoundingBox () override
	Calculation of the bounding box of the plane. More...

Member variables
Vec3	normal_
	Normal of the plane in reference to the global world frame. More...

real_t	d_
	Plane displacement from the origin. More...

static id_t	staticTypeID_ = std::numeric_limits<id_t>::max()

template<class T , int N>
struct	SetBodyTypeIDs
	needed to be able to set static type ids with setStaticTypeID More...

static void	setStaticTypeID (id_t typeID)

Additional Inherited Members
Public Attributes inherited from walberla::pe::RigidBody
MPIRigidBodyTrait	MPITrait

Public Attributes inherited from walberla::pe::cr::HCSITSBodyTrait
size_t	index_

Protected Member Functions inherited from walberla::pe::GeomPrimitive
	GeomPrimitive (id_t const typeID, id_t sid, id_t uid, MaterialID material)
	Constructor for the GeomPrimitive class. More...

	~GeomPrimitive () override=0
	Destructor for the Primitive class. More...

Protected Member Functions inherited from walberla::pe::RigidBody
virtual void	fix ()
	Setting the global position (the center of mass) of the rigid body fixed. More...

void	signalModification ()
	Signals an internal modification of a contained subordinate body. More...

void	signalTranslation ()
	Signals a position change of a contained subordinate body. More...

void	signalRotation ()
	Signals an orientation change of a contained subordinate body. More...

void	signalFixation ()
	Signals a fixation change of a contained subordinate body. More...

virtual void	handleModification ()
	Handling an internal modification of a contained subordinate body. More...

virtual void	handleTranslation ()
	Handling a position change of a contained subordinate body. More...

virtual void	handleRotation ()
	Handling an orientation change of a contained subordinate body. More...

virtual void	handleFixation ()
	Handling a fixation change of a contained subordinate body. More...

	RigidBody (id_t const typeID, id_t sid, id_t uid)
	Constructor for the RigidBody class. More...

void	setMassAndInertia (const real_t mass, const Mat3 &inertia)
	Sets mass and inertia of a rigid body. More...

Protected Member Functions inherited from walberla::pe::ccd::HashGridsBodyTrait
	HashGridsBodyTrait ()
	Constructor for the BodyTrait<HashGrids> specialization. More...

Protected Attributes inherited from walberla::pe::GeomPrimitive
MaterialID	material_
	The material of the geometric primitive. More...

Protected Attributes inherited from walberla::pe::RigidBody
bool	awake_
	Sleep mode flag. More...

real_t	mass_
	The total mass of the rigid body. More...

real_t	invMass_
	The inverse total mass of the rigid body. More...

real_t	motion_
	The current motion of the rigid body. More...

Vec3	v_
	The linear velocity of this rigid body. More...

Vec3	w_
	Angular velocity of this rigid body. More...

Vec3	force_
	Total force (external+contact) acting in the body's center of mass. More...

Vec3	torque_
	Total torque (external+contact) acting in the body's center of mass. More...

Mat3	I_
	The moment of inertia in reference to the body's own body frame. More...

Mat3	Iinv_
	The inverse moment of inertia within the body frame. More...

ManagerID	manager_
	The rigid body manager responsible for the rigid body. More...

BodyID	sb_
	The superordinate rigid body. More...

bool	finite_
	Finiteness flag. More...

bool	visible_
	Visibility flag. More...

bool	remote_
	Remote flag. More...

bool	communicating_
	Communicating flag. More...

bool	global_
	Global flag. More...

bool	toBeDeleted_
	This flag marks the body for deletion during the next synchronization (only works on local bodies) More...

id_t	sid_
	The unique system-specific body ID. More...

id_t	uid_
	The user-specific body ID. More...

AABB	aabb_
	Axis-aligned bounding box for the rigid body. More...

Protected Attributes inherited from walberla::pe::ccd::HashGridsBodyTrait
void *	grid_
	Pointer to the hash grid this rigid body is currently assigned to. More...

size_t	hash_
	Current hash value of this rigid body. More...

size_t	cellId_
	The body's index in the body container of the grid cell this rigid body is currently assigned to. More...

Constructor & Destructor Documentation

◆ Plane()

walberla::pe::Plane::Plane	(	id_t	sid,
		id_t	uid,
		const Vec3 &	gpos,
		const Vec3 &	normal,
		real_t	d,
		MaterialID	material
	)

explicit

Constructor for the Plane class.

Parameters

sid	Unique system-specific ID for the plane.
uid	User-specific ID for the plane.
gpos	The global position (anchor point) of the plane.
normal	The plane's normal in reference to the global world frame, \( \|n\| = 1 \).
d	The displacement of the plane.
material	The material of the plane.

The plane equation is: \( ax + by + cz = d \).
a, b and c are the x, y and z coordinate of the normal vector and d is the distance from the origin to the plane.

◆ ~Plane()

walberla::pe::Plane::~Plane ( )

override

Destructor for the PlaneBase class.

Member Function Documentation

◆ calcBoundingBox()

void walberla::pe::Plane::calcBoundingBox ( )

overrideprotectedvirtual

Calculation of the bounding box of the plane.

Returns: void

This function updates the axis-aligned bounding box of the plane primitive according to the current position and orientation of the plane. Note that the bounding box is increased in all dimensions by pe::contactThreshold to guarantee that rigid bodies in close proximity of the plane are also considered during the collision detection process.

Implements walberla::pe::RigidBody.

◆ containsRelPointImpl()

bool walberla::pe::Plane::containsRelPointImpl	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

overrideprotectedvirtual

Checks, whether a point in body relative coordinates lies inside the plane.

Parameters

px	The x-component of the relative coordinate.
py	The y-component of the relative coordinate.
pz	The z-component of the relative coordinate.

Returns: true if the point lies inside the plane, false if not.

Reimplemented from walberla::pe::RigidBody.

◆ getDepth() [1/2]

real_t walberla::pe::Plane::getDepth ( const Vec3 & gpos ) const

inline

Calculates the depth of a point in global coordinates.

Parameters

gpos	The global coordinate.

Returns: Depth of the global point.

Returns a positive value, if the point lies inside the plane and a negative value, if the point lies outside the plane.

◆ getDepth() [2/2]

real_t walberla::pe::Plane::getDepth	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

inline

Calculates the depth of a point in global coordinates.

Parameters

px	The x-component of the global coordinate.
py	The y-component of the global coordinate.
pz	The z-component of the global coordinate.

Returns: Depth of the global point.

Returns a positive value, if the point lies inside the plane and a negative value, if the point lies outside the plane.

◆ getDisplacement()

real_t walberla::pe::Plane::getDisplacement ( ) const

inline

Returns the displacement/distance from the origin of the global world frame.

Returns: The displacement of the plane.

A positive displacement value indicates that the origin of the global world frame is contained in the plane, whereas a negative value indicates that the origin is not contained in the plane.

◆ getDistance() [1/2]

real_t walberla::pe::Plane::getDistance ( const Vec3 & gpos ) const

inline

Calculates the distance of a point in global coordinates.

Parameters

gpos	The global coordinate.

Returns: Distance of the global point.

Returns a positive value, if the point lies outside the plane and a negative value, if the point lies inside the plane.

◆ getDistance() [2/2]

real_t walberla::pe::Plane::getDistance	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

inline

Calculates the distance of a point in global coordinates.

Parameters

px	The x-component of the global coordinate.
py	The y-component of the global coordinate.
pz	The z-component of the global coordinate.

Returns: Distance of the global point.

Returns a positive value, if the point lies outside the plane and a negative value, if the point lies inside the plane.

◆ getNormal()

const Vec3 & walberla::pe::Plane::getNormal ( ) const

inline

Returns the normal of the plane in reference to the global world frame.

Returns: The normal of the plane.

◆ getRelDepth() [1/2]

real_t walberla::pe::Plane::getRelDepth ( const Vec3 & rpos ) const

inline

Calculates the depth of a point relative to the plane's frame of reference.

Parameters

rpos	The relative coordinate.

Returns: Depth of the relative point.

Returns a positive value, if the point lies inside the plane and a negative value, if the point lies outside the plane.

◆ getRelDepth() [2/2]

real_t walberla::pe::Plane::getRelDepth	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

inline

Calculates the depth of a point relative to the plane's frame of reference.

Parameters

px	The x-component of the relative coordinate.
py	The y-component of the relative coordinate.
pz	The z-component of the relative coordinate.

Returns: Depth of the relative point.

Returns a positive value, if the point lies inside the plane and a negative value, if the point lies outside the plane.

◆ getRelDistance() [1/2]

real_t walberla::pe::Plane::getRelDistance ( const Vec3 & rpos ) const

inline

Calculates the distance of a point relative to the plane's frame of reference.

Parameters

rpos	The relative coordinate.

Returns: Distance of the relative point.

Returns a positive value, if the point lies outside the plane and a negative value, if the point lies inside the plane.

◆ getRelDistance() [2/2]

real_t walberla::pe::Plane::getRelDistance	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

inline

Calculates the distance of a point relative to the plane's frame of reference.

Parameters

px	The x-component of the relative coordinate.
py	The y-component of the relative coordinate.
pz	The z-component of the relative coordinate.

Returns: Distance of the relative point.

Returns a positive value, if the point lies outside the plane and a negative value, if the point lies inside the plane.

◆ getStaticTypeID()

id_t walberla::pe::Plane::getStaticTypeID ( )

inlinestatic

Returns unique type id of this type.

Returns: geometry specific type id

◆ getVolume()

real_t walberla::pe::Plane::getVolume ( ) const

inlineoverridevirtual

Returns the volume of the plane.

Returns: The volume is always infinity.

Reimplemented from walberla::pe::RigidBody.

◆ isSurfaceRelPointImpl()

bool walberla::pe::Plane::isSurfaceRelPointImpl	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

overrideprotectedvirtual

Checks, whether a point in body relative coordinates lies on the plane.

Parameters

px	The x-component of the relative coordinate.
py	The y-component of the relative coordinate.
pz	The z-component of the relative coordinate.

Returns: true if the point lies on the plane, false if not.

The tolerance level of the check is pe::surfaceThreshold.

Reimplemented from walberla::pe::RigidBody.

◆ print()

void walberla::pe::Plane::print	(	std::ostream &	os,
		const char *	tab
	)		const

overridevirtual

Output of the current state of a plane.

Parameters

os	Reference to the output stream.
tab	Indentation in front of every line of the plane output.

Returns: void

Implements walberla::pe::RigidBody.

◆ rotateAroundOriginImpl()

void walberla::pe::Plane::rotateAroundOriginImpl ( const Quat & dq )

overrideprotectedvirtual

Rotation of the plane around the origin of the global world frame.

Parameters

dq	The quaternion for the rotation.

Returns: void

Exceptions

std::logic_error Invalid rotation of a plane inside an exclusive section.

Changing the orientation/rotation of the plane. The plane is rotated around the origin of the global frame around by the quaternion dq. Therefore the anchor point (global position) and the normal of the plane are changed, not its distance (displacement) to the origin.
Note:

Rotating a plane contained in a union changes the geometry of the union. Therefore this may cause an invalidation of links contained in the union.

Reimplemented from walberla::pe::RigidBody.

◆ rotateAroundPointImpl()

void walberla::pe::Plane::rotateAroundPointImpl	(	const Vec3 &	point,
		const Quat &	dq
	)

overrideprotectedvirtual

Rotation of the plane around a specific global coordinate.

Parameters

point	The global center of the rotation.
dq	The global rotation.

Returns: void

Exceptions

std::logic_error Invalid rotation of a plane inside an exclusive section.

This function rotates the plane around the given global coordinate point and changes the global position, the displacement from the origin, and the orientation/rotation of the plane. The plane is rotated around the given axis axis by angle degrees (radian measure).
Note:

Rotating a plane contained in a union changes the geometry of the union. Therefore this may cause an invalidation of links contained in the union.

Reimplemented from walberla::pe::RigidBody.

◆ rotateImpl()

void walberla::pe::Plane::rotateImpl ( const Quat & dq )

overrideprotectedvirtual

Rotation of the plane by the quaternion dq.

Parameters

dq	The quaternion for the rotation.

Returns: void

Exceptions

std::logic_error Invalid rotation of a plane inside an exclusive section.

Changing the orientation/rotation of the plane. The plane is rotated around its anchor point (its current global position) by the quaternion dq. This rotation changes the normal of the plane and its distance (displacement) to the origin of the global world frame.
Note:

Rotating a plane contained in a union changes the geometry of the union. Therefore this may cause an invalidation of links contained in the union.

Reimplemented from walberla::pe::RigidBody.

◆ setOrientationImpl()

void walberla::pe::Plane::setOrientationImpl	(	real_t	r,
		real_t	i,
		real_t	j,
		real_t	k
	)

overrideprotectedvirtual

Setting the global orientation of the plane.

Parameters

r	The quaternion scalar part.
i,j,k	The quaternion vector part.

Returns: void

Exceptions

std::logic_error Invalid rotation of a plane inside an exclusive section.

This function sets the normal of the plane corresponding to the given global orientation, where the initial orientation of the plane's normal is (0,0,1). This change of orientation corresponds to a rotation around the anchor point of the plane, which is consequently not changed. However, this rotation changes the distance (displacement) to the origin of the global world frame.

Note:

Setting the orientation of a plane contained in a union changes the geometry of the union. Therefore this may cause an invalidation of links contained in the union.

Reimplemented from walberla::pe::RigidBody.

◆ setPositionImpl()

void walberla::pe::Plane::setPositionImpl	(	real_t	px,
		real_t	py,
		real_t	pz
	)

overrideprotectedvirtual

Setting the global position of the plane.

Parameters

px	The x-component of the global position.
py	The y-component of the global position.
pz	The z-component of the global position.

Returns: void

Exceptions

std::logic_error Invalid translation of a plane inside an exclusive section.

This function sets the global position (anchor point) of the plane.

Note:

Setting the position of a plane contained in a union changes the geometry of the union. Therefore this may cause an invalidation of links contained in the union.

Reimplemented from walberla::pe::RigidBody.

◆ setStaticTypeID()

static void walberla::pe::Plane::setStaticTypeID ( id_t typeID )

inlinestaticprivate

◆ translateImpl()

void walberla::pe::Plane::translateImpl	(	real_t	dx,
		real_t	dy,
		real_t	dz
	)

overrideprotectedvirtual

Translation of the global position of the plane by the displacement vector.

(dx,dy,dz).

Parameters

dx	The x-component of the translation/displacement.
dy	The y-component of the translation/displacement.
dz	The z-component of the translation/displacement.

Returns: void

Exceptions

std::logic_error Invalid translation of a plane inside an exclusive section.

Note:

Translating a plane contained in a union changes the geometry of the union. Therefore this may cause an invalidation of links contained in the union.

Reimplemented from walberla::pe::RigidBody.

Friends And Related Function Documentation

◆ SetBodyTypeIDs

template<class T , int N>

friend struct SetBodyTypeIDs

friend

needed to be able to set static type ids with setStaticTypeID

Member Data Documentation

◆ d_

real_t walberla::pe::Plane::d_

protected

Plane displacement from the origin.

The displacement can be categorized in the following way:

> 0: The global origin is inside the plane
< 0: The global origin is outside the plane
= 0: The global origin is on the surface of the plane

◆ normal_

Vec3 walberla::pe::Plane::normal_

protected

Normal of the plane in reference to the global world frame.

The normal of the plane is always pointing towards the halfspace outside the plane.

◆ staticTypeID_

id_t walberla::pe::Plane::staticTypeID_ = std::numeric_limits<id_t>::max()

staticprivate

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

/builds/administration/walberla-website/walberla/src/pe/rigidbody/Plane.h
/builds/administration/walberla-website/walberla/src/pe/rigidbody/Plane.cpp

Detailed Description

Public Member Functions

Utility functions

Member variables

Additional Inherited Members

Constructor & Destructor Documentation

◆ Plane()

◆ ~Plane()

Member Function Documentation

◆ calcBoundingBox()

◆ containsRelPointImpl()

◆ getDepth() [1/2]

◆ getDepth() [2/2]

◆ getDisplacement()

◆ getDistance() [1/2]

◆ getDistance() [2/2]

◆ getNormal()

◆ getRelDepth() [1/2]

◆ getRelDepth() [2/2]

◆ getRelDistance() [1/2]

◆ getRelDistance() [2/2]

◆ getStaticTypeID()

◆ getVolume()

◆ isSurfaceRelPointImpl()

◆ print()

◆ rotateAroundOriginImpl()

◆ rotateAroundPointImpl()

◆ rotateImpl()

◆ setOrientationImpl()

◆ setPositionImpl()

◆ setStaticTypeID()

◆ translateImpl()

Friends And Related Function Documentation

◆ SetBodyTypeIDs

Member Data Documentation

◆ d_

◆ normal_

◆ staticTypeID_