#include <RigidBody.h>

Inheritance diagram for walberla::pe::RigidBody:

Public Member Functions
Destructor
virtual	~RigidBody ()=0
	Destructor for the RigidBody class. More...

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

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

Get functions
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...

virtual real_t	getVolume () const
	Returns the volume 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

Translation functions
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...

Rotation functions
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...

Utility functions
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...

virtual void	calcBoundingBox ()=0

Force functions
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...

Impulse functions
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...

MPI functions
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...

Output functions
virtual void	print (std::ostream &os, const char *tab) const =0

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

Protected Member Functions
Fixation functions
virtual void	fix ()
	Setting the global position (the center of mass) of the rigid body fixed. More...

Functions for internal changes in compound geometries
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...

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

Friends
template<typename... BodyTypes>
class	Union

Constructor
MPIRigidBodyTrait	MPITrait

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

Set functions
virtual void	setPositionImpl (real_t px, real_t py, real_t pz)

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

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

virtual void	rotateImpl (const Quat &dq)
	Implements the rotation of a rigid body. More...

virtual void	rotateAroundOriginImpl (const Quat &dq)
	Implements the rotation of a rigid body. More...

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

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

virtual bool	isSurfaceRelPointImpl (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...

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

Member variables
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...

Vec3	gpos_
	The position of the center of mass of this rigid body. More...

Quat	q_
	The orientation of the body frame in the global world frame. More...

Mat3	R_
	The rotation in reference to the global frame of reference. More...

id_t	typeID_

Additional Inherited Members
Public Attributes inherited from walberla::pe::cr::HCSITSBodyTrait
size_t	index_

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...

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

	~NonCopyable ()=default

Constructor & Destructor Documentation

◆ RigidBody()

walberla::pe::RigidBody::RigidBody	(	id_t const	typeID,
		id_t	sid,
		id_t	uid
	)

explicitprotected

Constructor for the RigidBody class.

Parameters

typeID	The geometry type of the rigid body.
sid	The unique system-specific ID of the rigid body.
uid	The user-specific ID of the rigid body.

◆ ~RigidBody()

walberla::pe::RigidBody::~RigidBody ( )

pure virtualdefault

Destructor for the RigidBody class.

Member Function Documentation

◆ accFromWF() [1/2]

const Vec3 walberla::pe::RigidBody::accFromWF ( const Vec3 & gpos ) const

inline

Calculation of the global acceleration of a point in global coordinates.

Parameters

gpos	The global coordinate.

Returns: The global acceleration.

The function calculates the global acceleration of a point in global coordinates.

◆ accFromWF() [2/2]

const Vec3 walberla::pe::RigidBody::accFromWF	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

inline

Calculation of the global acceleration 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: The global acceleration.

The function calculates the global acceleration of a point in global coordinates.

◆ addForce() [1/2]

void walberla::pe::RigidBody::addForce ( const Vec3 & f )

inline

Increases the force acting in the body's center of mass.

Parameters

f	The acting force.

Returns: void

The function applies a global force to the rigid body. The given force is acting directly in the body's center of mass and increases the total acting force on the body. If the rigid body is part of a superordinate body, the force is also acting on the superordinate body. Depending on the position of the superordinate body's center of mass, the force can also cause a torque in the superordinate body.

◆ addForce() [2/2]

void walberla::pe::RigidBody::addForce	(	real_t	fx,
		real_t	fy,
		real_t	fz
	)

inline

Increases the force acting in the body's center of mass.

Parameters

fx	The x-component of the force.
fy	The y-component of the force.
fz	The z-component of the force.

Returns: void

The function applies a global force to the rigid body. The given force is acting directly in the body's center of mass and increases the total acting force on the body. If the rigid body is part of a superordinate body, the force is also acting on the superordinate body. Depending on the position of the superordinate body's center of mass, the force can also cause a torque in the superordinate body.

◆ addForceAtPos() [1/2]

void walberla::pe::RigidBody::addForceAtPos	(	const Vec3 &	f,
		const Vec3 &	gpos
	)

inline

Increases the force acting in the body's center of mass.

Parameters

f	The acting global force.
gpos	The global coordinate.

Returns: void

The given force is acting at the specified coordinate and increases the total acting force on the rigid body. Depending on the position, the force can cause a torque in the body's center of mass. If the body is part of a superordinate body, the force is also acting on the superordinate body.

◆ addForceAtPos() [2/2]

void walberla::pe::RigidBody::addForceAtPos	(	real_t	fx,
		real_t	fy,
		real_t	fz,
		real_t	px,
		real_t	py,
		real_t	pz
	)

inline

Increases the force acting in the body's center of mass.

Parameters

fx	The x-component of the global force.
fy	The y-component of the global force.
fz	The z-component of the global force.
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: void

The given force is acting at the specified coordinate and increases the total acting force on the rigid body. Depending on the position, the force can cause a torque in the body's center of mass. If the body is part of a superordinate body, the force is also acting on the superordinate body.

◆ addForceAtRelPos() [1/2]

void walberla::pe::RigidBody::addForceAtRelPos	(	const Vec3 &	f,
		const Vec3 &	rpos
	)

inline

Increases the force acting in the body's center of mass.

Parameters

f	The acting global force.
rpos	The relative coordinate.

Returns: void

The function applies a global force to the rigid body. The given force is acting at the specified body relative coordinate and increases the total acting force on the rigid body. Depending on the position, the force can cause a torque in the body's center of mass. If the body is part of a superordinate body, the force is also acting on the superordinate body.

◆ addForceAtRelPos() [2/2]

void walberla::pe::RigidBody::addForceAtRelPos	(	real_t	fx,
		real_t	fy,
		real_t	fz,
		real_t	px,
		real_t	py,
		real_t	pz
	)

inline

Increases the force acting in the body's center of mass.

Parameters

fx	The x-component of the global force.
fy	The y-component of the global force.
fz	The z-component of the global force.
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: void

The function applies a global force to the rigid body. The given force is acting at the specified body relative coordinate and increases the total acting force on the rigid body. Depending on the position, the force can cause a torque in the body's center of mass. If the body is part of a superordinate body, the force is also acting on the superordinate body.

◆ addImpulse() [1/2]

void walberla::pe::RigidBody::addImpulse ( const Vec3 & j )

inline

Applying an impulse in the body's center of mass.

Parameters

j	The acting impulse.

Returns: void

The impulse is acting directly in the body's center of mass and instantaneously changes the linear velocity of the rigid body. If the body is part of a superordinate body, the impulse is also acting on the superordinate body. Depending on the position of the superordinate body's center of mass, the impulse can also change the angular velocity of the rigid body (and the superordinate body).

◆ addImpulse() [2/2]

void walberla::pe::RigidBody::addImpulse	(	real_t	jx,
		real_t	jy,
		real_t	jz
	)

inline

Applying an impulse in the body's center of mass.

Parameters

jx	The x-component of the impulse.
jy	The y-component of the impulse.
jz	The z-component of the impulse.

Returns: void

The impulse is acting directly in the body's center of mass and instantaneously changes the linear velocity of the rigid body. If the body is part of a superordinate body, the impulse is also acting on the superordinate body. Depending on the position of the superordinate body's center of mass, the impulse can also change the angular velocity of the rigid body (and the superordinate body).

◆ addImpulseAtPos() [1/2]

void walberla::pe::RigidBody::addImpulseAtPos	(	const Vec3 &	j,
		const Vec3 &	p
	)

inline

Applying an impulse at the given global coordinate.

Parameters

j	The acting impulse.
p	The global coordinate.

Returns: void

The given impulse is acting at the specified coordinate and instantaneously changes the linear velocity of the rigid body. Depending on the position of the body's center of mass, the impulse can also change the angular velocity. If the rigid body is part of a superordinate body, the impulse is also acting on the superordinate body.

◆ addImpulseAtPos() [2/2]

void walberla::pe::RigidBody::addImpulseAtPos	(	real_t	jx,
		real_t	jy,
		real_t	jz,
		real_t	px,
		real_t	py,
		real_t	pz
	)

inline

Applying an impulse at the given global coordinate.

Parameters

jx	The x-component of the impulse.
jy	The y-component of the impulse.
jz	The z-component of the impulse.
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: void

The given impulse is acting at the specified coordinate and instantaneously changes the linear velocity of the rigid body. Depending on the position of the body's center of mass, the impulse can also change the angular velocity. If the rigid body is part of a superordinate body, the impulse is also acting on the superordinate body.

◆ addRelForce() [1/2]

void walberla::pe::RigidBody::addRelForce ( const Vec3 & f )

inline

Increases the force acting in the body's center of mass.

Parameters

f	The acting relative force.

Returns: void

The function applies a body relative force to the rigid body. The given force is acting directly in the body's center of mass and increases the total force acting on the body. If the body is part of a superordinate body, the force is also acting on the superordinate body. Depending on the position of the superordinate body's center of mass, the force can also cause a torque in the superordinate body.

◆ addRelForce() [2/2]

void walberla::pe::RigidBody::addRelForce	(	real_t	fx,
		real_t	fy,
		real_t	fz
	)

inline

Increases the total force acting in the body's center of mass.

Parameters

fx	The x-component of the relative force.
fy	The y-component of the relative force.
fz	The z-component of the relative force.

Returns: void

The function applies a body relative force to the rigid body. The given force is acting directly in the body's center of mass and increases the total force acting on the body. If the body is part of a superordinate body, the force is also acting on the superordinate body. Depending on the position of the superordinate body's center of mass, the force can also cause a torque in the superordinate body.

◆ addRelForceAtPos() [1/2]

void walberla::pe::RigidBody::addRelForceAtPos	(	const Vec3 &	f,
		const Vec3 &	gpos
	)

inline

Increases the force acting in the body's center of mass.

Parameters

f	The acting relative force.
gpos	The global coordinate.

Returns: void

The function applies a body relative force to the rigid body. The given force is acting at the specified global coordinate and increases the total acting force on the rigid body. Depending on the position, the force can cause a torque in the body's center of mass. If the body is part of a superordinate body, the force is also acting on the superordinate body.

◆ addRelForceAtPos() [2/2]

void walberla::pe::RigidBody::addRelForceAtPos	(	real_t	fx,
		real_t	fy,
		real_t	fz,
		real_t	px,
		real_t	py,
		real_t	pz
	)

inline

Increases the force acting in the body's center of mass.

Parameters

fx	The x-component of the relative force.
fy	The y-component of the relative force.
fz	The z-component of the relative force.
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: void

The function applies a body relative force to the rigid body. The given force is acting at the specified global coordinate and increases the total acting force on the rigid body. Depending on the position, the force can cause a torque in the body's center of mass. If the body is part of a superordinate body, the force is also acting on the superordinate body.

◆ addRelForceAtRelPos() [1/2]

void walberla::pe::RigidBody::addRelForceAtRelPos	(	const Vec3 &	f,
		const Vec3 &	rpos
	)

inline

Increases the force acting in the body's center of mass.

Parameters

f	The acting relative force.
rpos	The relative coordinate.

Returns: void

The function applies a body relative force to the rigid body. The given force is acting at the specified body relative coordinate and increases the total acting force on the rigid body. Depending on the position, the force can cause a torque in the body's center of mass. If the body is part of a superordinate body, the force is also acting on the superordinate body.

◆ addRelForceAtRelPos() [2/2]

void walberla::pe::RigidBody::addRelForceAtRelPos	(	real_t	fx,
		real_t	fy,
		real_t	fz,
		real_t	px,
		real_t	py,
		real_t	pz
	)

inline

Increases the force acting in the body's center of mass.

Parameters

fx	The x-component of the relative force.
fy	The y-component of the relative force.
fz	The z-component of the relative force.
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: void

The function applies a body relative force to the rigid body. The given force is acting at the specified body relative coordinate and increases the total acting force on the rigid body. Depending on the position, the force can cause a torque in the body's center of mass. If the body is part of a superordinate body, the force is also acting on the superordinate body.

◆ addTorque() [1/2]

void walberla::pe::RigidBody::addTorque ( const Vec3 & t )

inline

Increasing the torque acting in the body's center of mass.

Parameters

t	The acting torque.

Returns: void

The torque is acting directly in the body's center of mass and increases the total acting torque on the body. If the rigid body is part of a superordinate body, the torque is applied to the superordinate body instead. It is not possible to apply a torque on subordinate rigid bodies!

◆ addTorque() [2/2]

void walberla::pe::RigidBody::addTorque	(	real_t	tx,
		real_t	ty,
		real_t	tz
	)

inline

Increasing the torque acting in the body's center of mass.

Parameters

tx	The x-component of the torque.
ty	The y-component of the torque.
tz	The z-component of the torque.

Returns: void

The torque is acting directly in the body's center of mass and increases the total acting torque on the body. If the rigid body is part of a superordinate body, the torque is applied to the superordinate body instead. It is not possible to apply a torque on subordinate rigid bodies!

◆ calcBoundingBox()

virtual void walberla::pe::RigidBody::calcBoundingBox ( )

pure virtual

Implemented in walberla::pe::Box, walberla::pe::Sphere, walberla::pe::Capsule, walberla::pe::Plane, walberla::pe::Ellipsoid, walberla::pe::CylindricalBoundary, and walberla::mesh::pe::ConvexPolyhedron.

◆ calcMotion()

void walberla::pe::RigidBody::calcMotion ( )

inline

Calculating the current motion of a rigid body.

Returns: void

This function calculates the current motion of a rigid body. The motion is a scalar value, consisting of the current linear and angular velocity and is calculated by the following equation:

\[ \Phi = \mbox{bias} \cdot \Phi + (1-\mbox{bias}) \cdot ( \vec{v}^2 + \vec{w}^2 ), \]

where \( \Phi \) is the motion, \( \vec{v} \) is the linear velocity, \( \vec{w} \) is the angular velocity and bias is the weighting factor for the recency-weighted average between the new motion value and the motion value from the last time frame (see pe::sleepBias). If the motion drops below pe::sleepThreshold, the rigid body is put to sleep.

◆ checkInvariants()

bool walberla::pe::RigidBody::checkInvariants ( )

virtual

Checks the validity of the state of the rigid body.

Returns: true if no error is detected, false if any error if found.

◆ containsPoint() [1/2]

bool walberla::pe::RigidBody::containsPoint ( const Vec3 & gpos ) const

inline

Checks, whether a point in global coordinates lies inside the rigid body.

Parameters

gpos	The global coordinate.

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

◆ containsPoint() [2/2]

bool walberla::pe::RigidBody::containsPoint	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

inline

Checks, whether a point in global coordinates lies inside the rigid body.

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: true if the point lies inside the rigid body, false if not.

◆ containsRelPoint() [1/2]

bool walberla::pe::RigidBody::containsRelPoint ( const Vec3 & rpos ) const

inline

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

Parameters

rpos	The relative coordinate.

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

◆ containsRelPoint() [2/2]

bool walberla::pe::RigidBody::containsRelPoint	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

inline

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

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 rigid body, false if not.

◆ containsRelPointImpl()

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

inlineprotectedvirtual

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

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 rigid body, false if not.

Reimplemented in walberla::pe::Box, walberla::pe::Capsule, walberla::pe::Sphere, walberla::pe::Plane, walberla::pe::Ellipsoid, walberla::pe::CylindricalBoundary, and walberla::mesh::pe::ConvexPolyhedron.

◆ fix()

void walberla::pe::RigidBody::fix ( )

inlineprotectedvirtual

Setting the global position (the center of mass) of the rigid body fixed.

Returns: void

This function fixes the global position (the center of mass) of a finite rigid body. If the body is contained in a superordinate body, fixing the contained body will also fix the global position of the superordinate body. In case the body is infinite or contained in an infinite superordinate body (as for instance a plane or an union containing a plane) the function has no effect.

In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the rigid body on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ getAABB()

const AABB & walberla::pe::RigidBody::getAABB ( ) const

inline

Returns the axis-aligned bounding box of the rigid body.

Returns: The axis-aligned bounding box of the rigid body.

◆ getAABBSize()

real_t walberla::pe::RigidBody::getAABBSize ( ) const

inline

Returns the length of the longest side of the AABB of the rigid body.

Returns: The length of the longest side of the AABB of the rigid body.

◆ getAngularVel()

const Vec3 & walberla::pe::RigidBody::getAngularVel ( ) const

inline

Returns the global angular velocity.

Returns: The global angular velocity.

This function returns the angular velocity of the center of mass in reference to the global world frame.

◆ getBodyAngularVel()

const Vec3 walberla::pe::RigidBody::getBodyAngularVel ( ) const

inline

Returns the relative angular velocity.

Returns: The relative angular velocity.

This function returns the angular velocity of the center of mass in reference to the body's own frame of reference.

◆ getBodyInertia()

const Mat3 & walberla::pe::RigidBody::getBodyInertia ( ) const

inline

Returns the moment of inertia in reference to the body frame of the rigid body.

Returns: The body relative moment of inertia.

◆ getBodyLinearVel()

const Vec3 walberla::pe::RigidBody::getBodyLinearVel ( ) const

inline

Returns the relative linear velocity of the rigid body.

Returns: The relative linear velocity.

This function returns the linear velocity of the center of mass of the rigid body in reference to the body's own frame of reference.

◆ getEnergy()

real_t walberla::pe::RigidBody::getEnergy ( ) const

inline

Returns the energy of the rigid body.

Returns: energy. Takes into account rotational energy, kinetic energy and potential energy.

◆ getForce()

const Vec3 & walberla::pe::RigidBody::getForce ( ) const

inline

Returns the current force acting on the body's center of mass.

Returns: The acting force.

This function returns the current force acting on the rigid body. If the body is contained in a union, then this force is part of the total force acting on the union.

◆ getID()

id_t walberla::pe::RigidBody::getID ( ) const

inline

Returns the user-specific ID of the rigid body.

Returns: The user-specific ID.

◆ getInertia()

const Mat3 walberla::pe::RigidBody::getInertia ( ) const

inline

Returns the moment of inertia in reference to the global world frame.

Returns: The global moment of inertia.

◆ getInvBodyInertia()

const Mat3 & walberla::pe::RigidBody::getInvBodyInertia ( ) const

inline

Returns the inverse moment of inertia in reference to the body frame of the rigid body.

Returns: The inverse body relative moment of inertia.

◆ getInvInertia()

const Mat3 walberla::pe::RigidBody::getInvInertia ( ) const

inline

Returns the inverse moment of inertia in reference to the global world frame.

Returns: The inverse global moment of inertia.

◆ getInvMass()

real_t walberla::pe::RigidBody::getInvMass ( ) const

inline

Returns the inverse total mass of the rigid body.

Returns: The inverse total mass of the rigid body.

◆ getKineticEnergy()

real_t walberla::pe::RigidBody::getKineticEnergy ( ) const

inline

Returns the kinetic energy of the rigid body.

Returns: kinetic energy

◆ getLinearVel()

const Vec3 walberla::pe::RigidBody::getLinearVel ( ) const

inline

Returns the global linear velocity of the rigid body.

Returns: The global linear velocity.

This function returns the linear velocity of the center of mass of the rigid body in reference to the global world frame.

◆ getManager() [1/2]

ConstManagerID walberla::pe::RigidBody::getManager ( )

inline

Returns the supervising rigid body manager of the rigid body.

Returns: The supervising rigid body manager.

If the body is currently not supervised by an rigid body manager, the returned ManagerID is 0.

◆ getManager() [2/2]

ConstManagerID walberla::pe::RigidBody::getManager ( ) const

inline

◆ getMass()

real_t walberla::pe::RigidBody::getMass ( ) const

inline

Returns the total mass of the rigid body.

Returns: The total mass of the rigid body.

◆ getPosition()

const Vec3 walberla::pe::RigidBody::getPosition ( ) const

inline

Returns the global position of the center of mass of the rigid body.

Returns: The global position of the center of mass.

◆ getQuaternion()

const Quat walberla::pe::RigidBody::getQuaternion ( ) const

inline

Returns the orientation of the rigid body.

Returns: The orientation of the rigid body.

This function returns the quaternion of the rigid body, which represents the orientation of the body in reference to the global world frame.

◆ getRelPosition()

const Vec3 walberla::pe::RigidBody::getRelPosition ( ) const

inline

Returns the relative position of the rigid body within the superordinate body.

Returns: The relative position of the rigid body.

If this body is not contained in a superbody the zero-vector is returned.

◆ getRelQuaternion()

const Quat walberla::pe::RigidBody::getRelQuaternion ( ) const

inline

Returns the relative orientation of the rigid body to its superbody.

Returns: The relative orientation of the rigid body.

This function returns the quaternion, which represents the orientation of the body in reference to coordinate system of the superbody. If this body has no superbody the union-quaternion is returned.

◆ getRotation()

const Mat3 walberla::pe::RigidBody::getRotation ( ) const

inline

Returns the rotation of the rigid body.

Returns: The rotation of the rigid body.

This function returns the rotation matrix of the rigid body, which represents the rotation of the body in reference to the global world frame.

◆ getRotationalEnergy()

real_t walberla::pe::RigidBody::getRotationalEnergy ( ) const

inline

Returns the rotational energy of the rigid body.

Returns: rotational energy

◆ getSuperBody() [1/2]

ConstBodyID walberla::pe::RigidBody::getSuperBody ( )

inline

Returns the superordinate body in which the rigid body is contained.

Returns: The superordinate body.

This function returns the direct superordinate body in which the rigid body is contained. If the rigid body is not contained in another body, the returned BodyID is the body itself.

◆ getSuperBody() [2/2]

ConstBodyID walberla::pe::RigidBody::getSuperBody ( ) const

inline

◆ getSystemID()

id_t walberla::pe::RigidBody::getSystemID ( ) const

inline

Returns the unique system-specific ID of the rigid body.

Returns: The system-specific ID.

◆ getTopSuperBody() [1/2]

ConstBodyID walberla::pe::RigidBody::getTopSuperBody ( )

inline

Returns the top level superordinate body in which the rigid body is contained.

Returns: The top level superordinate body.

This function returns the top level superordinate body in which the rigid body is contained. If the rigid body is not contained in another body, the returned BodyID is the body itself.

Returns: The superordinate body.

This function returns the top level superordinate body in which the rigid body is contained. If the rigid body is not contained in another body, the returned BodyID is the body itself.

◆ getTopSuperBody() [2/2]

ConstBodyID walberla::pe::RigidBody::getTopSuperBody ( ) const

inline

◆ getTorque()

const Vec3 & walberla::pe::RigidBody::getTorque ( ) const

inline

Returns the current torque acting on the body's center of mass.

Returns: The acting torque.

This function returns the current torque acting in the center of mass of the rigid body. If the body is contained in a union, then this torque represents the part of the total torque acting on the union that results from the forces on this body.

◆ getTypeID()

id_t walberla::pe::RigidBody::getTypeID ( ) const

inline

◆ getVolume()

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

inlinevirtual

Returns the volume of the rigid body.

Returns: The volume of the rigid body.

Reimplemented in walberla::pe::Capsule, walberla::pe::Ellipsoid, walberla::pe::Plane, walberla::pe::Sphere, walberla::pe::Box, and walberla::mesh::pe::ConvexPolyhedron.

◆ handleFixation()

void walberla::pe::RigidBody::handleFixation ( )

inlineprotectedvirtual

Handling a fixation change of a contained subordinate body.

Returns: void

This function handles a fixation change of one of the contained subordinate bodies. Derived compound geometries that contain other primitive bodies are required to override this function in order to react to the fixation change. All primitive geometries can use the empty default implementation.

◆ handleModification()

void walberla::pe::RigidBody::handleModification ( )

inlineprotectedvirtual

Handling an internal modification of a contained subordinate body.

Returns: void

This function handles an internal modification of one of the contained subordinate bodies. Derived compound geometries that contain other primitive or compound bodies are required to override this function in order to react to the modification. All primitive geometries can use the empty default implementation.

◆ handleRotation()

void walberla::pe::RigidBody::handleRotation ( )

inlineprotectedvirtual

Handling an orientation change of a contained subordinate body.

Returns: void

This function handles a rotation or orientation change of one of the contained subordinate bodies. Derived compound geometries that contain other primitive bodies are required to override this function in order to react to the rotation. All primitive geometries can use the empty default implementation.

◆ handleTranslation()

void walberla::pe::RigidBody::handleTranslation ( )

inlineprotectedvirtual

Handling a position change of a contained subordinate body.

Returns: void

This function handles a translation or position change of one of the contained subordinate bodies. Derived compound geometries that contain other primitive bodies are required to override this function in order to react to the translation. All primitive geometries can use the empty default implementation.

◆ hasForce()

bool walberla::pe::RigidBody::hasForce ( ) const

inline

Returns whether the rigid body has non-zero acting forces or torques.

Returns: true if the currently acting force and/or torque is non-zero, false if not.

◆ hasInfiniteMass()

bool walberla::pe::RigidBody::hasInfiniteMass ( ) const

inline

Checks if a body is "mobile" e.g.

will be integrated by the simulation

◆ hasManager()

bool walberla::pe::RigidBody::hasManager ( ) const

inline

Returns whether the rigid body currently has a supervising rigid body manager.

Returns: true if the rigid body has a supervising manager, false if not.

◆ hasSubBodies()

virtual bool walberla::pe::RigidBody::hasSubBodies ( ) const

inlinevirtual

◆ hasSuperBody()

bool walberla::pe::RigidBody::hasSuperBody ( ) const

inline

Returns whether the rigid body is contained in a superordinate body.

Returns: true if the rigid body is contained in a superordinate body, false if not.

◆ isAwake()

bool walberla::pe::RigidBody::isAwake ( ) const

inline

Returns whether the rigid body is awake or not.

Returns: true in case the rigid body is awake, false if is not.

◆ isCommunicating()

bool walberla::pe::RigidBody::isCommunicating ( ) const

inline

Returns whether the rigid body is local or not.

Returns: true in case of a local rigid body, false otherwise.

◆ isFinite()

bool walberla::pe::RigidBody::isFinite ( ) const

inline

Returns whether the rigid body is finite or not.

Returns: true in case of a finite rigid body, false in case of a infinite rigid body.

◆ isFixed()

bool walberla::pe::RigidBody::isFixed ( ) const

inline

Returns whether the rigid body's position is fixed or not.

Returns: true in case of a fixed/stationary rigid body, false in case of a free body.

◆ isGlobal()

bool walberla::pe::RigidBody::isGlobal ( ) const

inline

Returns whether the rigid body is global or not.

Returns: true in case of a global rigid body, false otherwise.

◆ isMarkedForDeletion()

bool walberla::pe::RigidBody::isMarkedForDeletion ( ) const

inline

◆ isRemote()

bool walberla::pe::RigidBody::isRemote ( ) const

inline

Returns whether the rigid body is remote or not.

Returns: true in case of a remote rigid body, false in case of a local body.

◆ isSurfacePoint() [1/2]

bool walberla::pe::RigidBody::isSurfacePoint ( const Vec3 & gpos ) const

inline

Checks, whether a point in global coordinates lies on the surface of the rigid body.

Parameters

gpos	The global coordinate.

Returns: true if the point lies on the surface of the rigid body, false if not.

The tolerance level of the check is surfaceThreshold.

◆ isSurfacePoint() [2/2]

bool walberla::pe::RigidBody::isSurfacePoint	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

inline

Checks, whether a point in global coordinates lies on the surface of the rigid body.

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: true if the point lies on the surface of the rigid body, false if not.

The tolerance level of the check is surfaceThreshold.

◆ isSurfaceRelPoint() [1/2]

bool walberla::pe::RigidBody::isSurfaceRelPoint ( const Vec3 & rpos ) const

inline

Checks, whether a point in body relative coordinates lies on the surface of the rigid body.

Parameters

rpos	The relative coordinate.

Returns: true if the point lies on the surface of the rigid body, false if not.

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

◆ isSurfaceRelPoint() [2/2]

bool walberla::pe::RigidBody::isSurfaceRelPoint	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

inline

Checks, whether a point in relative coordinates lies on the surface of the rigid body.

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 surface of the rigid body, false if not.

The tolerance level of the check is surfaceThreshold.

◆ isSurfaceRelPointImpl()

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

inlineprotectedvirtual

Checks, whether a point in relative coordinates lies on the surface of the rigid body.

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 surface of the rigid body, false if not.

The tolerance level of the check is surfaceThreshold.

Reimplemented in walberla::pe::Box, walberla::pe::Capsule, walberla::pe::Sphere, walberla::pe::Plane, walberla::pe::Ellipsoid, walberla::pe::CylindricalBoundary, and walberla::mesh::pe::ConvexPolyhedron.

◆ isVisible()

bool walberla::pe::RigidBody::isVisible ( ) const

inline

Returns whether the rigid body is visible or not.

Returns: true in case of a visible rigid body, false in case of an invisible body.

◆ markForDeletion()

void walberla::pe::RigidBody::markForDeletion ( )

inline

Marks the rigid body for deletion during the next synchronization.

Attention: Only works on local bodies!!!
Has no effect on global or shadow bodies.
Bodies which are non communicating have to be explicitly communicated during synchronization!

◆ pointFromBFtoWF() [1/2]

const Vec3 walberla::pe::RigidBody::pointFromBFtoWF ( const Vec3 & rpos ) const

inline

Transformation from a relative to a global coordinate.

Parameters

rpos	the relative coordinate.

Returns: The transformed global coordinate.

The function calculates the transformation of a point relative to the body's center of mass to a point in global coordinates.

◆ pointFromBFtoWF() [2/2]

const Vec3 walberla::pe::RigidBody::pointFromBFtoWF	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

inline

Transformation from a relative to a global coordinate.

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: The transformed global coordinate.

The function calculates the transformation of a point relative to the body's center of mass to a point in global coordinates.

◆ pointFromWFtoBF() [1/2]

const Vec3 walberla::pe::RigidBody::pointFromWFtoBF ( const Vec3 & gpos ) const

inline

Transformation from a global to a relative coordinate.

Parameters

gpos	The global coordinate.

Returns: The transformed relative coordinate.

The function calculates the transformation of a point in global coordinates to a point relative to the body's center of mass.

◆ pointFromWFtoBF() [2/2]

const Vec3 walberla::pe::RigidBody::pointFromWFtoBF	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

inline

Transformation from a global to a relative coordinate.

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: The transformed relative coordinate.

The function calculates the transformation of a point in global coordinates to a point relative to the body's center of mass.

◆ print()

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

pure virtual

Implemented in walberla::pe::Capsule, walberla::pe::Box, walberla::pe::Plane, walberla::pe::Sphere, walberla::pe::Ellipsoid, walberla::pe::CylindricalBoundary, and walberla::mesh::pe::ConvexPolyhedron.

◆ resetForceAndTorque()

void walberla::pe::RigidBody::resetForceAndTorque ( )

inlinevirtual

Resetting all acting forces and torques from the rigid body.

Returns: void

◆ resetSB()

void walberla::pe::RigidBody::resetSB ( )

inline

Resets the super body for the current body.

Attention: Behaviour changed compared to setSuperBody of old PE!!!

◆ rotate() [1/5]

void walberla::pe::RigidBody::rotate ( const Quat & dq )

inline

Rotation of the rigid body by the quaternion dq.

Parameters

dq	The quaternion for the rotation.

Returns: void

Changing the orientation/rotation of the rigid body. The rigid body is rotated around its center of mass by the quaternion dq.
Note:

Rotating a rigid body contained in a union changes the mass distribution and geometry of the union. Therefore this changes the union and may cause an invalidation of links contained in the union.
In case of a MPI parallel simulation, changing the settings of a (local) box on one process may invalidate the settings of the box on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ rotate() [2/5]

void walberla::pe::RigidBody::rotate	(	const Vec3 &	axis,
		real_t	angle
	)

inline

Rotation of the rigid body around the specified global rotation axis by the rotation.

angle angle.

Parameters

axis	The global rotation axis.
angle	The rotation angle (radian measure).

Returns: void

Changing the orientation/rotation of the rigid body. The rigid body is rotated around its center of mass around the given axis axis by angle degrees (radian measure).
Note:

Rotating a rigid body contained in a union changes the mass distribution and geometry of the union. Therefore this changes the union and may cause an invalidation of links contained in the union.
In case of a MPI parallel simulation, changing the settings of a (local) box on one process may invalidate the settings of the box on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ rotate() [3/5]

void walberla::pe::RigidBody::rotate ( const Vec3 & euler )

inline

Rotation of the rigid body by the Euler angles euler.

Parameters

euler 3-dimensional vector of the three rotation angles (radian measure).

Returns: void

Changing the orientation/rotation of the rigid body. The rigid body is rotated around its center of mass by the Euler angles euler (all components in radian measure). The rotations are applied in the order x, y, and z.
Note:

Rotating a rigid body contained in a union changes the mass distribution and geometry of the union. Therefore this changes the union and may cause an invalidation of links contained in the union.
In case of a MPI parallel simulation, changing the settings of a (local) box on one process may invalidate the settings of the box on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ rotate() [4/5]

void walberla::pe::RigidBody::rotate	(	real_t	x,
		real_t	y,
		real_t	z,
		real_t	angle
	)

inline

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

Parameters

x	The x-component of the global rotation axis.
y	The y-component of the global rotation axis.
z	The z-component of the global rotation axis.
angle	The rotation angle (radian measure).

Returns: void

Changing the orientation/rotation of the rigid body. The rigid body is rotated around its center of mass around the given axis (x,y,z) by angle degrees (radian measure).
Note:

Rotating a rigid body contained in a union changes the mass distribution and geometry of the union. Therefore this changes the union and may cause an invalidation of links contained in the union.
In case of a MPI parallel simulation, changing the settings of a (local) box on one process may invalidate the settings of the box on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ rotate() [5/5]

void walberla::pe::RigidBody::rotate	(	real_t	xangle,
		real_t	yangle,
		real_t	zangle
	)

inline

Rotation of the rigid body by the Euler angles xangle, yangle and zangle.

Parameters

xangle	Rotation around the x-axis (radian measure).
yangle	Rotation around the y-axis (radian measure).
zangle	Rotation around the z-axis (radian measure).

Returns: void

Changing the orientation/rotation of the rigid body. The rigid body is rotated around its center of mass by the Euler angles xangle, yangle and zangle (all in radian measure). The rotations are applied in the order x, y, and z.
Note:

Rotating a box contained in a union changes the mass distribution and geometry of the union. Therefore this changes the union and may cause an invalidation of links contained in the union.
In case of a MPI parallel simulation, changing the settings of a (local) box on one process may invalidate the settings of the box on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ rotateAroundOrigin() [1/5]

void walberla::pe::RigidBody::rotateAroundOrigin ( const Quat & dq )

inline

Rotation of the rigid body around the origin of the global world frame.

Parameters

dq	The quaternion for the rotation.

Returns: void

This function rotates the rigid body around the origin of the global world frame and changes both the global position and the orientation/rotation of the rigid body. The rigid body is rotated by the Euler angles euler (all components in radian measure). The rotations are applied in the order x, y, and z.
Note:

Rotating a rigid body contained in a union changes the mass distribution and geometry of the union. Therefore this changes the union and may cause an invalidation of links contained in the union.
In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the rigid body on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ rotateAroundOrigin() [2/5]

void walberla::pe::RigidBody::rotateAroundOrigin	(	const Vec3 &	axis,
		real_t	angle
	)

inline

Rotation of the rigid body around the origin of the global world frame.

Parameters

axis	The global rotation axis.
angle	The rotation angle (radian measure).

Returns: void

This function rotates the rigid body around the origin of the global world frame and changes both the global position and the orientation/rotation of the rigid body. The rigid body is rotated around the given axis axis by angle degrees (radian measure).

See also: rotateAroundOrigin( const Quat& dq )

◆ rotateAroundOrigin() [3/5]

void walberla::pe::RigidBody::rotateAroundOrigin ( const Vec3 & euler )

inline

Rotation of the rigid body around the origin of the global world frame.

Parameters

euler 3-dimensional vector of the three rotation angles (radian measure).

Returns: void

This function rotates the box around the origin of the global world frame and changes both the global position and the orientation/rotation of the rigid body. The rigid body is rotated by the Euler angles euler (all components in radian measure). The rotations are applied in the order x, y, and z.

See also: rotateAroundOrigin( const Quat& dq )

◆ rotateAroundOrigin() [4/5]

void walberla::pe::RigidBody::rotateAroundOrigin	(	real_t	x,
		real_t	y,
		real_t	z,
		real_t	angle
	)

inline

Rotation of the rigid body around the origin of the global world frame.

Parameters

x	The x-component of the global rotation axis.
y	The y-component of the global rotation axis.
z	The z-component of the global rotation axis.
angle	The rotation angle (radian measure).

Returns: void

This function rotates the rigid body around the origin of the global world frame and changes both the global position and the orientation/rotation of the rigid body. The rigid body is rotated around the given axis (x,y,z) by angle degrees (radian measure).

See also: rotateAroundOrigin( const Quat& dq )

◆ rotateAroundOrigin() [5/5]

void walberla::pe::RigidBody::rotateAroundOrigin	(	real_t	xangle,
		real_t	yangle,
		real_t	zangle
	)

inline

Rotation of the rigid body around the origin of the global world frame.

Parameters

xangle	Rotation around the x-axis (radian measure).
yangle	Rotation around the y-axis (radian measure).
zangle	Rotation around the z-axis (radian measure).

Returns: void

This function rotates the rigid body around the origin of the global world frame and changes both the global position and the orientation/rotation of the rigid body. The rigid body is rotated by the Euler angles xangle, yangle and zangle (all components in radian measure). The rotations are applied in the order x, y, and z.

See also: rotateAroundOrigin( const Quat& dq )

◆ rotateAroundOriginImpl()

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

inlineprotectedvirtual

Implements the rotation of a rigid body.

May be overwritten in derived classes for performance reasons.

Parameters

dq	The quaternion for the rotation.

Returns: void

Reimplemented in walberla::pe::Plane.

◆ rotateAroundPoint() [1/2]

void walberla::pe::RigidBody::rotateAroundPoint	(	const Vec3 &	point,
		const Vec3 &	axis,
		real_t	angle
	)

inline

Rotation of the rigid body around a specific global coordinate.

Parameters

point	The global center of the rotation.
axis	The global rotation axis.
angle	The rotation angle (radian measure).

Returns: void

This function rotates the rigid body around the given global coordinate point and changes both the global position and the orientation/rotation of the rigid body. The rigid body is rotated around the given axis axis by angle degrees (radian measure).
Note:

Rotating a rigid body contained in a union changes the mass distribution and geometry of the union. Therefore this changes the union and may cause an invalidation of links contained in the union.
In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the rigid body on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ rotateAroundPoint() [2/2]

void walberla::pe::RigidBody::rotateAroundPoint	(	const Vec3 &	point,
		const Vec3 &	euler
	)

inline

Rotation of the rigid body around a specific global coordinate.

Parameters

point	The global center of the rotation.
euler	3-dimensional vector of the three rotation angles (radian measure).

Returns: void

This function rotates the rigid body around the given global coordinate point and changes both the global position and the orientation/rotation of the rigid body. The rigid body is rotated by the Euler angles euler (all components in radian measure). The rotations are applied in the order x, y, and z.
Note:

Rotating a rigid body contained in a union changes the mass distribution and geometry of the union. Therefore this changes the union and may cause an invalidation of links contained in the union.
In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the rigid body on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ rotateAroundPointImpl()

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

inlineprotectedvirtual

Rotation of the rigid body around a specific global coordinate.

Parameters

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

Returns: void

This function rotates the rigid body around the given global coordinate point and changes both the global position and the orientation/rotation of the rigid body. The rigid body is rotated by the quaternion dq.
Note:

Rotating a rigid body contained in a union changes the mass distribution and geometry of the union. Therefore this changes the union and may cause an invalidation of links contained in the union.
In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the rigid body on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

Reimplemented in walberla::pe::Plane.

◆ rotateImpl()

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

inlineprotectedvirtual

Implements the rotation of a rigid body.

May be overwritten in derived classes for performance reasons.

Parameters

dq	The quaternion for the rotation.

Returns: void

Reimplemented in walberla::pe::Plane.

◆ setAngularVel() [1/2]

void walberla::pe::RigidBody::setAngularVel ( const Vec3 & avel )

inline

/see setAngularVel( real_t ax, real_t ay, real_t az )

◆ setAngularVel() [2/2]

void walberla::pe::RigidBody::setAngularVel	(	real_t	ax,
		real_t	ay,
		real_t	az
	)

inline

Setting the global angular velocity of the rigid body.

Parameters

ax	The x-component of the global angular velocity.
ay	The y-component of the global angular velocity.
az	The z-component of the global angular velocity.

Returns: void

This function sets the angular velocity of the rigid body. If the body is contained in a superordinate body the function has no effect.

In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the rigid body on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ setCommunicating()

void walberla::pe::RigidBody::setCommunicating ( const bool communicating )

inline

Setting the local flag of the rigid body.

Returns: void

This function declares the rigid body as a local body. Note that this function should not be used explicitly, but is automatically called during the setup of local rigid bodies. Using this function explicitly may lead to simulation errors during a parallel simulation!

◆ setFinite()

void walberla::pe::RigidBody::setFinite ( const bool finite )

inline

◆ setForce()

void walberla::pe::RigidBody::setForce ( const Vec3 & f )

inline

Set the force acting at the body's center of mass.

Parameters

f	The acting force.

Returns: void

◆ setGlobal()

void walberla::pe::RigidBody::setGlobal ( const bool global )

inline

Setting the global flag of the rigid body.

Returns: void

This function declares the rigid body as a global body. Note that this function should not be used explicitly, but is automatically called during the setup of local rigid bodies. Using this function explicitly may lead to simulation errors during a parallel simulation!

◆ setLinearVel() [1/2]

void walberla::pe::RigidBody::setLinearVel ( const Vec3 & lvel )

inline

/see setLinearVel( real_t vx, real_t vy, real_t vz )

◆ setLinearVel() [2/2]

void walberla::pe::RigidBody::setLinearVel	(	real_t	vx,
		real_t	vy,
		real_t	vz
	)

inline

Setting the global linear velocity of the rigid body.

Parameters

vx	The x-component of the global linear velocity.
vy	The y-component of the global linear velocity.
vz	The z-component of the global linear velocity.

Returns: void

This function sets the linear velocity of the rigid body. If the body is contained in a superordinate body the function has no effect.

In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the rigid body on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ setMassAndInertia()

void walberla::pe::RigidBody::setMassAndInertia	(	const real_t	mass,
		const Mat3 &	inertia
	)

inlineprotected

Sets mass and inertia of a rigid body.

Also calculates inverse values.

Parameters

mass	mass to be set (may be infinity)
inertia	inertia to be set (if mass is infinity this one will be ignored)

◆ setMassAndInertiaToInfinity()

void walberla::pe::RigidBody::setMassAndInertiaToInfinity ( )

inline

Setting the mass to infinity. This will also make the inertia tensor infinite.

Attention: This cannot be undone!

◆ setOrientation() [1/2]

void walberla::pe::RigidBody::setOrientation ( const Quat & q )

inline

Setting the global orientation of the rigid body.

Parameters

q	The global orientation.

Returns: void

This function sets the global orientation of the rigid body to the given quaternion q.

Note:

Setting the orientation of a rigid body contained in a union changes the mass distribution and geometry of the union. Therefore this changes the union and may cause an invalidation of links contained in the union.
In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the box on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ setOrientation() [2/2]

void walberla::pe::RigidBody::setOrientation	(	real_t	r,
		real_t	i,
		real_t	j,
		real_t	k
	)

inline

Setting the global orientation of the rigid body.

Parameters

r	The value for the real_t part.
i	The value for the first imaginary part.
j	The value for the second imaginary part.
k	The value for the third imaginary part.

Returns: void

This function sets the global orientation of the rigid body to the given quaternion (r,i,j,k).

Note:

Setting the orientation of a rigid body contained in a union changes the mass distribution and geometry of the union. Therefore this changes the union and may cause an invalidation of links contained in the union.
In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the box on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ setOrientationImpl()

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

inlineprotectedvirtual

Setting the global orientation of the rigid body.

Parameters

r	The value for the real_t part.
i	The value for the first imaginary part.
j	The value for the second imaginary part.
k	The value for the third imaginary part.

Returns: void

This function sets the global orientation of the rigid body to the given quaternion (r,i,j,k).

Note:

Setting the orientation of a rigid body contained in a union changes the mass distribution and geometry of the union. Therefore this changes the union and may cause an invalidation of links contained in the union.
In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the box on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

Reimplemented in walberla::pe::Plane.

◆ setPosition() [1/2]

void walberla::pe::RigidBody::setPosition ( const Vec3 & gpos )

inline

Setting the global position of the rigid body.

Parameters

gpos	The global position.

Returns: void

This function sets the global position of the rigid body to the given coordinate gpos.

Note:

Setting the position of a rigid body contained in a union changes the mass distribution and geometry of the union. Therefore this may cause an invalidation of links contained in the union.
In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the body on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ setPosition() [2/2]

void walberla::pe::RigidBody::setPosition	(	real_t	px,
		real_t	py,
		real_t	pz
	)

inline

Setting the global position of the rigid body.

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

This function sets the global position of the rigid body to the given coordinate (px,py,pz).

Note:

Setting the position of a rigid body contained in a union changes the mass distribution and geometry of the union. Therefore this may cause an invalidation of links contained in the union.
In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the body on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ setPositionImpl()

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

inlineprotectedvirtual

Reimplemented in walberla::pe::Plane.

◆ setRelAngularVel() [1/2]

void walberla::pe::RigidBody::setRelAngularVel ( const Vec3 & avel )

inline

/see setRelAngularVel( real_t ax, real_t ay, real_t az )

◆ setRelAngularVel() [2/2]

void walberla::pe::RigidBody::setRelAngularVel	(	real_t	ax,
		real_t	ay,
		real_t	az
	)

inline

Setting the relative angular velocity of the rigid body.

Parameters

ax	The x-component of the relative angular velocity.
ay	The y-component of the relative angular velocity.
az	The z-component of the relative angular velocity.

Returns: void

This function sets the angular velocity of the rigid body in reference to the body's own frame of reference. The given relative velocity is translated into the global world frame depending on the orientation of the rigid body. If the body is contained in a superordinate body the function has no effect.

In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the rigid body on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ setRelLinearVel() [1/2]

void walberla::pe::RigidBody::setRelLinearVel ( const Vec3 & lvel )

inline

See also: setRelLinearVel( real_t vx, real_t vy, real_t vz )

◆ setRelLinearVel() [2/2]

void walberla::pe::RigidBody::setRelLinearVel	(	real_t	vx,
		real_t	vy,
		real_t	vz
	)

inline

Setting the relative linear velocity of the rigid body.

Parameters

vx	The x-component of the relative linear velocity.
vy	The y-component of the relative linear velocity.
vz	The z-component of the relative linear velocity.

Returns: void

This function sets the linear velocity of the rigid body in reference to the body's own frame of reference. The given relative velocity is translated into the global world frame depending on the orientation of the rigid body. If the body is contained in a superordinate body the function has no effect.

In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the rigid body on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ setRelOrientation()

void walberla::pe::RigidBody::setRelOrientation ( const Quat & q )

inline

Setting the relative position of the rigid body.

Parameters

q	The relative orientation.

Returns: void

This function sets the relative orientation of the rigid body w. r. t. the superbodies position.

Note:

Setting the relative orientation of a rigid body without superbody will have no effect.
In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the body on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ setRelPosition()

void walberla::pe::RigidBody::setRelPosition ( const Vec3 & gpos )

inline

Setting the global position of the rigid body.

Parameters

gpos	The relative position.

Returns: void

This function sets the relative position of the rigid body w. r. t. the superbodies position.

Note:

Setting the position of a rigid body without superbody will have no effect.
In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the body on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ setRemote()

void walberla::pe::RigidBody::setRemote ( bool remote )

inlinevirtual

Setting the remote flag of the rigid body.

Parameters

remote true to declare the rigid body remote, false declare it local.

Returns: void

This function sets the remote flag of the rigid body. Note that this function should not be used explicitly, but is automatically called during the MPI communication to set the remote status of a rigid body within the simulation world. Using this function explicitly may lead to simulation errors during a parallel simulation!

◆ setSB()

void walberla::pe::RigidBody::setSB ( BodyID body )

inline

Sets the super body for the current body.

Attention: Behaviour changed compared to setSuperBody of old PE!!!

◆ setTorque()

void walberla::pe::RigidBody::setTorque ( const Vec3 & tau )

inline

Set the torque acting at the body's center of mass.

Parameters

tau	The acting torque.

Returns: void

◆ setVisible()

void walberla::pe::RigidBody::setVisible ( bool visible )

inline

Setting the rigid body visible/invisible.

Parameters

visible true to make the rigid body visible, false to make it invisible.

Returns: void

◆ signalFixation()

void walberla::pe::RigidBody::signalFixation ( )

inlineprotected

Signals a fixation change of a contained subordinate body.

Returns: void

This function can be used by derived primitive geometries to signal a change of the fixation flag to its superordinate body.

◆ signalModification()

void walberla::pe::RigidBody::signalModification ( )

inlineprotected

Signals an internal modification of a contained subordinate body.

Returns: void

This function can be used by derived primitive geometries to signal an internal modification to its superordinate body.

◆ signalRotation()

void walberla::pe::RigidBody::signalRotation ( )

inlineprotected

Signals an orientation change of a contained subordinate body.

Returns: void

This function can be used by derived primitive geometries to signal a rotation or orientation change to its superordinate body.

◆ signalTranslation()

void walberla::pe::RigidBody::signalTranslation ( )

inlineprotected

Signals a position change of a contained subordinate body.

Returns: void

This function can be used by derived primitive geometries to signal a translation or a position change to its superordinate body.

◆ support()

Vec3 walberla::pe::RigidBody::support ( const Vec3 & d ) const

inlinevirtual

Estimates the point which is farthest in direction d.

Parameters

d	The normalized search direction in world-frame coordinates.

Returns: The support point in world-frame coordinates in direction d.

Reimplemented in walberla::pe::Box, walberla::pe::Sphere, walberla::pe::Ellipsoid, walberla::pe::Capsule, and walberla::mesh::pe::ConvexPolyhedron.

◆ supportContactThreshold()

Vec3 walberla::pe::RigidBody::supportContactThreshold ( const Vec3 & d ) const

inlinevirtual

Estimates the point which is farthest in direction d.

Parameters

d	The normalized search direction in world-frame coordinates

Returns: The support point in world-frame coordinates in direction d extended by a vector in direction d of length pe::contactThreshold.

Reimplemented in walberla::pe::Box, and walberla::mesh::pe::ConvexPolyhedron.

◆ translate() [1/2]

void walberla::pe::RigidBody::translate ( const Vec3 & dp )

inline

Translation of the center of mass of the rigid body by the displacement vector dp.

Parameters

dp	The displacement vector.

Returns: void

Note:

Translating a rigid body contained in a union changes the mass distribution and geometry of the union. Therefore this may cause an invalidation of links contained in the union.
In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the rigid body on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ translate() [2/2]

void walberla::pe::RigidBody::translate	(	real_t	dx,
		real_t	dy,
		real_t	dz
	)

inline

Translation of the center of mass of the rigid body 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

Note:

Translating a rigid body contained in a union changes the mass distribution and geometry of the union. Therefore this may cause an invalidation of links contained in the union.
In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the rigid body on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

◆ translateImpl()

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

inlineprotectedvirtual

Translation of the center of mass of the rigid body 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

Note:

Translating a rigid body contained in a union changes the mass distribution and geometry of the union. Therefore this may cause an invalidation of links contained in the union.
In case of a MPI parallel simulation, changing the settings of a (local) rigid body on one process may invalidate the settings of the rigid body on another process. In order to synchronize all rigid bodies after local changes, the simulation has to be synchronized by the user. Note that any changes on remote rigid bodies are neglected and overwritten by the settings of the rigid body on its local process!

Reimplemented in walberla::pe::Plane.

◆ vectorFromBFtoWF() [1/2]

const Vec3 walberla::pe::RigidBody::vectorFromBFtoWF ( const Vec3 & v ) const

inline

Transformation from a relative to a global vector.

Parameters

v	the relative vector.

Returns: The transformed global vector.

The function calculates the transformation of a vector in body frame to a vector in global world frame.

◆ vectorFromBFtoWF() [2/2]

const Vec3 walberla::pe::RigidBody::vectorFromBFtoWF	(	real_t	vx,
		real_t	vy,
		real_t	vz
	)		const

inline

Transformation from a relative to a global vector.

Parameters

vx	The x-component of the relative vector.
vy	The y-component of the relative vector.
vz	The z-component of the relative vector.

Returns: The transformed global vector.

The function calculates the transformation of a vector in body frame to a vector in global world frame.

◆ vectorFromWFtoBF() [1/2]

const Vec3 walberla::pe::RigidBody::vectorFromWFtoBF ( const Vec3 & v ) const

inline

Transformation from a global to a relative vector.

Parameters

v	The global vector.

Returns: The transformed relative vector.

The function calculates the transformation of a vector in global world frame to a vector in body frame.

◆ vectorFromWFtoBF() [2/2]

const Vec3 walberla::pe::RigidBody::vectorFromWFtoBF	(	real_t	vx,
		real_t	vy,
		real_t	vz
	)		const

inline

Transformation from a global to a relative vector.

Parameters

vx	The x-component of the global vector.
vy	The y-component of the global vector.
vz	The z-component of the global vector.

Returns: The transformed relative vector.

The function calculates the transformation of a vector in global world frame to a vector in body frame.

◆ velFromBF() [1/2]

Vec3 walberla::pe::RigidBody::velFromBF ( const Vec3 & rpos ) const

virtual

Calculation of the global velocity of a relative point.

Parameters

rpos	The relative coordinate.

Returns: The global velocity.

The function calculates the global velocity of a point relative to the body's center of mass.

Reimplemented in walberla::pe::Squirmer.

◆ velFromBF() [2/2]

Vec3 walberla::pe::RigidBody::velFromBF	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

virtual

Calculation of the global velocity of a relative point.

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: The global velocity.

The function calculates the global velocity of a point relative to the body's center of mass.

Reimplemented in walberla::pe::Squirmer.

◆ velFromWF() [1/2]

Vec3 walberla::pe::RigidBody::velFromWF ( const Vec3 & gpos ) const

virtual

Calculation of the global velocity of a point in global coordinates.

Parameters

gpos	The global coordinate.

Returns: The global velocity.

The function calculates the global velocity of a point in global coordinates.

Reimplemented in walberla::pe::Squirmer.

◆ velFromWF() [2/2]

Vec3 walberla::pe::RigidBody::velFromWF	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

virtual

Calculation of the global velocity 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: The global velocity.

The function calculates the global velocity of a point in global coordinates.

Reimplemented in walberla::pe::Squirmer.

◆ wake()

void walberla::pe::RigidBody::wake ( )

inline

Waking the rigid body and ending the sleep mode.

Returns: void

This function wakes a rigid body from sleep mode. Note that this function has no effect if it is called on a subordinate rigid body, i.e. a body contained in another rigid body.

Friends And Related Function Documentation

◆ Union

template<typename... BodyTypes>

friend class Union

friend

Member Data Documentation

◆ aabb_

AABB walberla::pe::RigidBody::aabb_

protected

Axis-aligned bounding box for the rigid body.

◆ awake_

bool walberla::pe::RigidBody::awake_

protected

Sleep mode flag.

The flag value indicates if the rigid body is currently awake (true) or in sleep mode (false).

◆ communicating_

bool walberla::pe::RigidBody::communicating_

protected

Communicating flag.

The local flag indicates whether the rigid body is local in an MPI parallel simulation. Local bodies are not participating in any communication process.

◆ finite_

bool walberla::pe::RigidBody::finite_

protected

Finiteness flag.

The flag value indicates if the rigid body is finite (true) or infinite (false).

◆ force_

Vec3 walberla::pe::RigidBody::force_

protected

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

◆ global_

bool walberla::pe::RigidBody::global_

protected

Global flag.

The global flag indicates whether the rigid body is global in an MPI parallel simulation.

◆ gpos_

Vec3 walberla::pe::RigidBody::gpos_

private

The position of the center of mass of this rigid body.

If the body is contained in union this and the other properties are relative to its center / orientation. Use the respective function getPosition() / getRotation() to access the actual global Position in the world frame

◆ I_

Mat3 walberla::pe::RigidBody::I_

protected

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

The moment of inertia quantifies the rotational inertia of a rigid body, i.e. its inertia with respect to rotational motion, in a manner somewhat analogous to how mass quantifies the inertia of a body with respect to translational motion. The naming convention of the tensor elements is

\[\left(\begin{array}{*{3}{c}} I_{xx} & I_{xy} & I_{xz} \\ I_{yx} & I_{yy} & I_{yz} \\ I_{zx} & I_{zy} & I_{zz} \\ \end{array}\right)\]

◆ Iinv_

Mat3 walberla::pe::RigidBody::Iinv_

protected

The inverse moment of inertia within the body frame.

◆ invMass_

real_t walberla::pe::RigidBody::invMass_

protected

The inverse total mass of the rigid body.

◆ manager_

ManagerID walberla::pe::RigidBody::manager_

protected

The rigid body manager responsible for the rigid body.

◆ mass_

real_t walberla::pe::RigidBody::mass_

protected

The total mass of the rigid body.

◆ motion_

real_t walberla::pe::RigidBody::motion_

protected

The current motion of the rigid body.

If this value drops under the specified sleep threshold, the rigid body will be put to sleep.

◆ MPITrait

MPIRigidBodyTrait walberla::pe::RigidBody::MPITrait

◆ q_

Quat walberla::pe::RigidBody::q_

private

The orientation of the body frame in the global world frame.

◆ R_

Mat3 walberla::pe::RigidBody::R_

private

The rotation in reference to the global frame of reference.

◆ remote_

bool walberla::pe::RigidBody::remote_

protected

Remote flag.

This flag indicates whether the rigid body belongs to a remote process (true) or to the local process (false).

◆ sb_

BodyID walberla::pe::RigidBody::sb_

protected

The superordinate rigid body.

This data member is the connection to the superordinate body, which is either the enclosing Union or the rigid body itself.

◆ sid_

id_t walberla::pe::RigidBody::sid_

protected

The unique system-specific body ID.

◆ toBeDeleted_

bool walberla::pe::RigidBody::toBeDeleted_

protected

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

◆ torque_

Vec3 walberla::pe::RigidBody::torque_

protected

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

◆ typeID_

id_t walberla::pe::RigidBody::typeID_

private

◆ uid_

id_t walberla::pe::RigidBody::uid_

protected

The user-specific body ID.

◆ v_

Vec3 walberla::pe::RigidBody::v_

mutableprotected

The linear velocity of this rigid body.

◆ visible_

bool walberla::pe::RigidBody::visible_

protected

Visibility flag.

◆ w_

Vec3 walberla::pe::RigidBody::w_

mutableprotected

Angular velocity of this rigid body.

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

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

Public Member Functions

Protected Member Functions

Friends

Constructor

Set functions

Member variables

Additional Inherited Members

Constructor & Destructor Documentation

◆ RigidBody()

◆ ~RigidBody()

Member Function Documentation

◆ accFromWF() [1/2]

◆ accFromWF() [2/2]

◆ addForce() [1/2]

◆ addForce() [2/2]

◆ addForceAtPos() [1/2]

◆ addForceAtPos() [2/2]

◆ addForceAtRelPos() [1/2]

◆ addForceAtRelPos() [2/2]

◆ addImpulse() [1/2]

◆ addImpulse() [2/2]

◆ addImpulseAtPos() [1/2]

◆ addImpulseAtPos() [2/2]

◆ addRelForce() [1/2]

◆ addRelForce() [2/2]

◆ addRelForceAtPos() [1/2]

◆ addRelForceAtPos() [2/2]

◆ addRelForceAtRelPos() [1/2]

◆ addRelForceAtRelPos() [2/2]

◆ addTorque() [1/2]

◆ addTorque() [2/2]

◆ calcBoundingBox()

◆ calcMotion()

◆ checkInvariants()

◆ containsPoint() [1/2]

◆ containsPoint() [2/2]

◆ containsRelPoint() [1/2]

◆ containsRelPoint() [2/2]

◆ containsRelPointImpl()

◆ fix()

◆ getAABB()

◆ getAABBSize()

◆ getAngularVel()

◆ getBodyAngularVel()

◆ getBodyInertia()

◆ getBodyLinearVel()

◆ getEnergy()

◆ getForce()

◆ getID()

◆ getInertia()

◆ getInvBodyInertia()

◆ getInvInertia()

◆ getInvMass()

◆ getKineticEnergy()

◆ getLinearVel()

◆ getManager() [1/2]

◆ getManager() [2/2]

◆ getMass()

◆ getPosition()

◆ getQuaternion()

◆ getRelPosition()

◆ getRelQuaternion()

◆ getRotation()

◆ getRotationalEnergy()

◆ getSuperBody() [1/2]

◆ getSuperBody() [2/2]

◆ getSystemID()

◆ getTopSuperBody() [1/2]

◆ getTopSuperBody() [2/2]

◆ getTorque()

◆ getTypeID()

◆ getVolume()

◆ handleFixation()

◆ handleModification()

◆ handleRotation()

◆ handleTranslation()

◆ hasForce()

◆ hasInfiniteMass()

◆ hasManager()

◆ hasSubBodies()