Detailed Description

template<typename... BodyTypes>
class walberla::pe::Union< BodyTypes >

Base class for the union geometry, a rigid assembly of bodies.

The Union class represents the base class for the sphere geometry. For a full description of the union geometry, see the Union class description.

#include <Types.h>

Public Types
using	size_type = BodyStorage::size_type
	Size type of the body storage. More...

using	iterator = BodyStorage::iterator
	Iterator over non-const bodies. More...

using	const_iterator = BodyStorage::const_iterator
	Iterator over constant bodies. More...

template<typename C >
using	cast_iterator = BodyStorage::cast_iterator< C >

template<typename C >
using	const_cast_iterator = BodyStorage::const_cast_iterator< C >

Public Member Functions
Constructors
	Union (id_t sid, id_t uid, const Vec3 &gpos, const Quat &q, const bool global, const bool communicating, const bool infiniteMass)
	Constructor for the Sphere class. More...

Destructor
	~Union () override
	Destructor for the Union class. More...

BodyStorage functions
bool	isEmpty () const

size_t	size () const

iterator	begin ()

const_iterator	begin () const

const_iterator	cbegin () const

iterator	end ()

const_iterator	end () const

const_iterator	cend () const

template<typename C >
cast_iterator< C >	begin ()

template<typename C >
const_cast_iterator< C >	begin () const

template<typename C >
const_cast_iterator< C >	cbegin () const

template<typename C >
cast_iterator< C >	end ()

template<typename C >
const_cast_iterator< C >	end () const

template<typename C >
const_cast_iterator< C >	cend () const

real_t	getVolume () const override
	Returns the volume of the union. More...

Set functions
void	setRemote (bool remote) override
	Setting the remote flag of the union and all contained bodies. More...

bool	hasSubBodies () const override

Signal functions
void	handleModification () override
	Signals an internal modification of a contained subordinate rigid body. More...

void	handleTranslation () override
	Signals a position change of a contained subordinate rigid body. More...

void	handleRotation () override
	Signals an orientation change of a contained subordinate rigid body. More...

Rigid body manager functions
RigidBody &	add (std::unique_ptr< RigidBody > &&body)
	Adding a rigid body to the union. More...

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

Utility functions
BodyStorage	bodies_
	Rigid bodies contained in the union. More...

std::vector< id_t >	containedTypeIDs_

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

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

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

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

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

void	translateImpl (real_t dx, real_t dy, real_t dz) override
	Translation of the center of mass of the union by the displacement vector dp. More...

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

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

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

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

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

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

void	calcCenterOfMass ()
	Calculation of the total mass and center of mass. More...

void	calcInertia ()
	Calculation of the moment of inertia in reference to the body frame of the union. More...

static void	setStaticTypeID (id_t typeID)

Member Typedef Documentation

◆ cast_iterator

template<typename... BodyTypes>

template<typename C >

using walberla::pe::Union< BodyTypes >::cast_iterator = BodyStorage::cast_iterator<C>

◆ const_cast_iterator

template<typename... BodyTypes>

template<typename C >

using walberla::pe::Union< BodyTypes >::const_cast_iterator = BodyStorage::const_cast_iterator<C>

◆ const_iterator

template<typename... BodyTypes>

using walberla::pe::Union< BodyTypes >::const_iterator = BodyStorage::const_iterator

Iterator over constant bodies.

◆ iterator

template<typename... BodyTypes>

using walberla::pe::Union< BodyTypes >::iterator = BodyStorage::iterator

Iterator over non-const bodies.

◆ size_type

template<typename... BodyTypes>

using walberla::pe::Union< BodyTypes >::size_type = BodyStorage::size_type

Size type of the body storage.

Constructor & Destructor Documentation

◆ Union()

template<typename... BodyTypes>

walberla::pe::Union< BodyTypes >::Union	(	id_t	sid,
		id_t	uid,
		const Vec3 &	gpos,
		const Quat &	q,
		const bool	global,
		const bool	communicating,
		const bool	infiniteMass
	)

explicit

Constructor for the Sphere class.

Parameters

sid	Unique system-specific ID for the sphere.
uid	User-specific ID for the sphere.
gpos	Global geometric center of the sphere.
q	The orientation of the sphere's body frame in the global world frame.
global	specifies if the sphere should be created in the global storage
communicating	specifies if the sphere should take part in synchronization (syncNextNeighbour, syncShadowOwner)
infiniteMass	specifies if the sphere has infinite mass and will be treated as an obstacle

◆ ~Union()

template<typename... BodyTypes>

walberla::pe::Union< BodyTypes >::~Union

override

Destructor for the Union class.

Member Function Documentation

◆ add()

template<typename... BodyTypes>

RigidBody & walberla::pe::Union< BodyTypes >::add ( std::unique_ptr< RigidBody > && body )

inline

Adding a rigid body to the union.

Parameters

body	The rigid body to be added to the union.

Returns: void

Exceptions

std::logic_error	Invalid adding into a global union inside an exclusive section.
std::logic_error	Global flags of body and union do not match.

This function adds another rigid body to the union (as for instance a sphere, a box, a capsule, or another union). It updates all union properties that change due to the new rigid body: the center of mass, the relative position of all contained rigid bodies, the attached sections of all contained links, the moment of inertia, and the axis-aligned bounding box.
The union takes full responsibility for the newly added body, including the necessary memory management. After adding the body to the union, the body is considered part of the union. All functions called on the union (as for instance all kinds of set functions, translation or rotation functions) additionally define the values for the rigid body according to its relative position and orientation. Do not call any Set-Functions on the single rigid body.

Adding infinite rigid bodies

Adding an infinite rigid body (as for instance a plane) to the union makes the union an infinite rigid body. This additionally resets the linear and angular velocity of the union and fixes its global position. Note that removing the last infinite body from an union will not restore previous settings such as the velocities and will not unfix the union!

Global bodies/unions

Adding a global rigid body (i.e. a body defined inside the pe_GLOBAL_SECTION) to the union requires the union to be also global. Adding a non-global rigid body to a union requires the union to be also non-global. The attempt to add a global rigid body to a non-global union or a non-global body to a global union results in a std::logic_error exception.

Additional rules

The following rules apply for the mobility and visibility of the resulting union:

If either the union or the added rigid body is fixed, the new compound will also be fixed. For instance, adding a fixed rigid body to an union will fix the union, and adding a rigid body to a fixed union will fix the body.
Neither the (in-)visibility of the added rigid body nor (in-)visibility of the union will change due to the add operation. For instance adding a visible rigid body to an invisible union will not change the visibility of the body. Neither is the visibility of the union changed. In order to change the visibility, the setVisible() function can be either called individually for the rigid body (to exclusively make the body (in-)visible) or the entire union (to make the entire union (in-)visible.

◆ begin() [1/4]

template<typename... BodyTypes>

iterator walberla::pe::Union< BodyTypes >::begin ( )

inline

◆ begin() [2/4]

template<typename... BodyTypes>

template<typename C >

cast_iterator<C> walberla::pe::Union< BodyTypes >::begin ( )

inline

◆ begin() [3/4]

template<typename... BodyTypes>

const_iterator walberla::pe::Union< BodyTypes >::begin ( ) const

inline

◆ begin() [4/4]

template<typename... BodyTypes>

template<typename C >

const_cast_iterator<C> walberla::pe::Union< BodyTypes >::begin ( ) const

inline

◆ calcBoundingBox()

template<typename... BodyTypes>

void walberla::pe::Union< BodyTypes >::calcBoundingBox

inlineoverrideprotected

Calculation of the bounding box of the union.

Returns: void

This function updates the axis-aligned bounding box of the union according to the current position and orientation of the contained rigid bodies.

◆ calcCenterOfMass()

template<typename... BodyTypes>

void walberla::pe::Union< BodyTypes >::calcCenterOfMass

inlineprotected

Calculation of the total mass and center of mass.

Returns: void

◆ calcInertia()

template<typename... BodyTypes>

void walberla::pe::Union< BodyTypes >::calcInertia

inlineprotected

Calculation of the moment of inertia in reference to the body frame of the union.

Use this function only if the center of gravity is set correctly (e.g. after calling calcCenterOfMass)

Returns: void

◆ cbegin() [1/2]

template<typename... BodyTypes>

const_iterator walberla::pe::Union< BodyTypes >::cbegin ( ) const

inline

◆ cbegin() [2/2]

template<typename... BodyTypes>

template<typename C >

const_cast_iterator<C> walberla::pe::Union< BodyTypes >::cbegin ( ) const

inline

◆ cend() [1/2]

template<typename... BodyTypes>

const_iterator walberla::pe::Union< BodyTypes >::cend ( ) const

inline

◆ cend() [2/2]

template<typename... BodyTypes>

template<typename C >

const_cast_iterator<C> walberla::pe::Union< BodyTypes >::cend ( ) const

inline

◆ containsRelPointImpl()

template<typename... BodyTypes>

bool walberla::pe::Union< BodyTypes >::containsRelPointImpl	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

overrideprotected

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

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 sphere, false if not.

◆ end() [1/4]

template<typename... BodyTypes>

iterator walberla::pe::Union< BodyTypes >::end ( )

inline

◆ end() [2/4]

template<typename... BodyTypes>

template<typename C >

cast_iterator<C> walberla::pe::Union< BodyTypes >::end ( )

inline

◆ end() [3/4]

template<typename... BodyTypes>

const_iterator walberla::pe::Union< BodyTypes >::end ( ) const

inline

◆ end() [4/4]

template<typename... BodyTypes>

template<typename C >

const_cast_iterator<C> walberla::pe::Union< BodyTypes >::end ( ) const

inline

◆ getStaticTypeID()

template<typename... BodyTypes>

id_t walberla::pe::Union< BodyTypes >::getStaticTypeID

inlinestatic

Returns unique type id of this type.

Returns: geometry specific type id

◆ getVolume()

template<typename... BodyTypes>

real_t walberla::pe::Union< BodyTypes >::getVolume

inlineoverride

Returns the volume of the union.

Returns: The volume of the union.

◆ handleModification()

template<typename... BodyTypes>

void walberla::pe::Union< BodyTypes >::handleModification

override

Signals an internal modification of a contained subordinate rigid body.

Returns: void

In case one of the contained rigid bodies is internally modified, this function is called to recalculate the changed properties of the union.

◆ handleRotation()

template<typename... BodyTypes>

void walberla::pe::Union< BodyTypes >::handleRotation

override

Signals an orientation change of a contained subordinate rigid body.

Returns: void

In case one of the contained rigid bodies changes its orientation, this function is called to recalculate the changed properties of the union.

◆ handleTranslation()

template<typename... BodyTypes>

void walberla::pe::Union< BodyTypes >::handleTranslation

override

Signals a position change of a contained subordinate rigid body.

Returns: void

In case one of the contained rigid bodies changes its position, this function is called to recalculate the changed properties of the union.

◆ hasSubBodies()

template<typename... BodyTypes>

bool walberla::pe::Union< BodyTypes >::hasSubBodies ( ) const

inlineoverride

◆ isEmpty()

template<typename... BodyTypes>

bool walberla::pe::Union< BodyTypes >::isEmpty ( ) const

inline

◆ isSurfaceRelPointImpl()

template<typename... BodyTypes>

bool walberla::pe::Union< BodyTypes >::isSurfaceRelPointImpl	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

overrideprotected

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

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 sphere, false if not.

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

◆ print()

template<typename... BodyTypes>

void walberla::pe::Union< BodyTypes >::print	(	std::ostream &	os,
		const char *	tab
	)		const

override

Output of the current state of an union.

Parameters

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

Returns: void

◆ rotateAroundOriginImpl()

template<typename... BodyTypes>

void walberla::pe::Union< BodyTypes >::rotateAroundOriginImpl ( const Quat & dq )

overrideprotected

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

Parameters

dq	The quaternion for the rotation.

Returns: void

Exceptions

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

This function rotates the entire union around the origin of the global world frame and changes both the global position and the orientation/rotation of the union. Additionally, all contained rigid bodies change their position and orientation accordingly. The orientation of the bodies within the union in reference to the body frame of the union is not changed.

◆ rotateAroundPointImpl()

template<typename... BodyTypes>

void walberla::pe::Union< BodyTypes >::rotateAroundPointImpl	(	const Vec3 &	point,
		const Quat &	dq
	)

overrideprotected

Rotation of the union around a specific global coordinate.

Parameters

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

Returns: void

Exceptions

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

This function rotates the entire union around the given global coordinate point and changes both the global position and the orientation/rotation of the union. Additionally, all contained rigid bodies change their position and orientation accordingly. The orientation of the bodies within the union in reference to the body frame of the union is not changed.

◆ rotateImpl()

template<typename... BodyTypes>

void walberla::pe::Union< BodyTypes >::rotateImpl ( const Quat & dq )

overrideprotected

Rotation of the union by the quaternion dq.

Parameters

dq	The quaternion for the rotation.

Returns: void

Exceptions

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

Changing the orientation/rotation of the entire union. This function causes all contained rigid bodies to rotate around the center of mass of the union (if the union is finite) or around the anchor point of the union (if the union is infinite). The orientation of the bodies within the union in reference to the body frame of the union is not changed.

◆ setOrientationImpl()

template<typename... BodyTypes>

void walberla::pe::Union< BodyTypes >::setOrientationImpl	(	real_t	r,
		real_t	i,
		real_t	j,
		real_t	k
	)

overrideprotected

Setting the global orientation of the union.

Parameters

r	The value for the real 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

Exceptions

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

Setting the orientation/rotation of the entire union. This function causes all contained primitives to rotate around the center of mass of the union (if the union is finite) or around the anchor point of the union (if the union is infinite). The orientation of the rigid bodies within the union in reference to the body frame of the union is not changed.

◆ setPositionImpl()

template<typename... BodyTypes>

void walberla::pe::Union< BodyTypes >::setPositionImpl	(	real_t	px,
		real_t	py,
		real_t	pz
	)

overrideprotected

Setting the global position of the union.

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: void

Exceptions

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

Setting the global position of the union's center of mass. If the union contains an infinite rigid body, the function shifts the union to reposition its anchor point according to the given global coordinate.

◆ setRemote()

template<typename... BodyTypes>

void walberla::pe::Union< BodyTypes >::setRemote ( bool remote )

override

Setting the remote flag of the union and all contained bodies.

Parameters

remote true to declare the union remote, false declare it local.

Returns: void

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

◆ setStaticTypeID()

template<typename... BodyTypes>

static void walberla::pe::Union< BodyTypes >::setStaticTypeID ( id_t typeID )

inlinestaticprivate

◆ size()

template<typename... BodyTypes>

size_t walberla::pe::Union< BodyTypes >::size ( ) const

inline

◆ translateImpl()

template<typename... BodyTypes>

void walberla::pe::Union< BodyTypes >::translateImpl	(	real_t	dx,
		real_t	dy,
		real_t	dz
	)

overrideprotected

Translation of the center of mass of the union by the displacement vector dp.

Parameters

dx	The displacement on the x-axis.
dy	The displacement on the y-axis.
dz	The displacement on the z-axis.

Returns: void

Exceptions

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

Changing the global position of the entire union's center of mass. All contained rigid bodies are moved by the same displacement.

Friends And Related Function Documentation

◆ SetBodyTypeIDs

template<typename... BodyTypes>

template<class T , int N>

friend struct SetBodyTypeIDs

friend

needed to be able to set static type ids with setStaticTypeID

Member Data Documentation

◆ bodies_

template<typename... BodyTypes>

BodyStorage walberla::pe::Union< BodyTypes >::bodies_

private

Rigid bodies contained in the union.

◆ containedTypeIDs_

template<typename... BodyTypes>

std::vector<id_t> walberla::pe::Union< BodyTypes >::containedTypeIDs_

private

◆ staticTypeID_

template<typename... BodyTypes>

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

staticprivate

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

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

Detailed Description

template<typename... BodyTypes> class walberla::pe::Union< BodyTypes >

Public Types

Public Member Functions

Utility functions

Member Typedef Documentation

◆ cast_iterator

◆ const_cast_iterator

◆ const_iterator

◆ iterator

◆ size_type

Constructor & Destructor Documentation

◆ Union()

◆ ~Union()

Member Function Documentation

◆ add()

Adding infinite rigid bodies

Global bodies/unions

Additional rules

◆ begin() [1/4]

◆ begin() [2/4]

◆ begin() [3/4]

◆ begin() [4/4]

◆ calcBoundingBox()

◆ calcCenterOfMass()

◆ calcInertia()

◆ cbegin() [1/2]

◆ cbegin() [2/2]

◆ cend() [1/2]

◆ cend() [2/2]

◆ containsRelPointImpl()

◆ end() [1/4]

◆ end() [2/4]

◆ end() [3/4]

◆ end() [4/4]

◆ getStaticTypeID()

◆ getVolume()

◆ handleModification()

◆ handleRotation()

◆ handleTranslation()

◆ hasSubBodies()

◆ isEmpty()

◆ isSurfaceRelPointImpl()

◆ print()

◆ rotateAroundOriginImpl()

◆ rotateAroundPointImpl()

◆ rotateImpl()

◆ setOrientationImpl()

◆ setPositionImpl()

◆ setRemote()

◆ setStaticTypeID()

◆ size()

◆ translateImpl()

Friends And Related Function Documentation

◆ SetBodyTypeIDs

Member Data Documentation

◆ bodies_

◆ containedTypeIDs_

◆ staticTypeID_

template<typename... BodyTypes>
class walberla::pe::Union< BodyTypes >