TAPsElasticRodParameters.cpp

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/******************************************************************************
TAPsElasticRodParameters.cpp
******************************************************************************/
/******************************************************************************
SUKITTI PUNAK   (08/25/2009)
UPDATE          (12/17/2010)
******************************************************************************/
#include "TAPsElasticRodParameters.hpp"
// Using Inclusion Model (i.e. definitions are included in declarations)
//                       (this name.cpp is included in name.hpp)
// Each friend is defined directly inside its declaration.

BEGIN_NAMESPACE_TAPs
//=============================================================================
//-----------------------------------------------------------------------------

// Default constructor
template <typename T>
ElasticRodParameters<T>::ElasticRodParameters () :
    NumOfNodes( 9 ),
    Radius( 0.125 ),
    TotalMass( 1 ),
    TotalLength( 1 ),
    LinkLength( TotalLength / (NumOfNodes-1) ),
    MassOfPoint( TotalMass / NumOfNodes ),
    Kstretch_modulus( 5E5 ),
    Kbend_modulus( 2.75E4 ),
    Kshear_modulus( 2.55E4 ),
    MaterialDensity( 5E3 ),

    Kgravity( -9.81 ),
#ifdef  TAPs_ADD_RESTING_LEVEL_Y
    RestingLevel( 0.0 ),
#endif//TAPs_ADD_RESTING_LEVEL_Y
    
    #ifdef  TAPs_ADD_KNOT_RECOGNITION
        EnableKR( true ),
        EnableKR_LockKnots( true ),
    #endif//TAPs_ADD_KNOT_RECOGNITION

    #ifdef  TAPs_USE_CUDA
        EnableCUDA( false ),
        EnableCUDA_GenDrawData( false ),    // Unless cudaGLMapBufferObject preformance is much improved, this one should be set to false.
    #endif//TAPs_USE_CUDA

    // Collision Detection and Response
    EnableSelfCDR( true ),
    KselfCDR( 1 ),
    KselfCDR_ScaleDistance( 1 ),
    KselfStick( 1 ),
    K_CDRwBV_Cylinder( 1 ),
    K_CDRwBV_Sphere( 1 ),
    K_CDRwTriangle( 1 ),

    // Collision Detection and Response with implicit objects
    K_CDRwImpObj_Sphere( 1 ),
    K_CDRwImpObj_Torus( 1 ),
    Offset_CD_ImpObj_Sphere( 0 ),
    Offset_CD_ImpObj_Torus( 0 ),

    // Simulation time step and iterations
    TimeStep( 0.001 ),
    SimIterationTimes( 1 ),

    // Offsets
    Offset_CD_Self( 0 ),
    Offset_CD_SelfStick( 0 ),
    Offset_CD_Triangle( 0 ),
    Offset_CD_BV_Sphere( 0 ),
    Offset_CD_BV_Cylinder( 0 )

{
    Kt = 40;
    Kr[0] = 41.5;  Kr[1] = 42.5;  Kr[2] = 43.5;
    Dt = 50;
    Dr[0] = 51.5;  Dr[1] = 52.5;  Dr[2] = 53.5;
    Kconstraint_3rdDirAlignTangent = 55;
    Kconstraint_ScaleIntrinsicStrainRate = 1;
    Kvdamping = 0.125;

    CalDependentParameters();
}


// Assignment operator
template <typename T>
ElasticRodParameters<T> & ElasticRodParameters<T>::operator= ( ElasticRodParameters<T> const & orig )
{
    Name = orig.Name;

    // Physical properties
    NumOfNodes  = orig.NumOfNodes;
    Radius      = orig.Radius;
    TotalMass   = orig.TotalMass;
    TotalLength = orig.TotalLength;
    LinkLength  = orig.LinkLength;
    MassOfPoint = orig.MassOfPoint;

    // Material and Moduli
    Kstretch_modulus    = orig.Kstretch_modulus;
    Kbend_modulus       = orig.Kbend_modulus;
    Kshear_modulus      = orig.Kshear_modulus;
    MaterialDensity     = orig.MaterialDensity;

    // K constants
    Kt      = orig.Kt;
    Kr[0]   = orig.Kr[0];
    Kr[1]   = orig.Kr[1];
    Kr[2]   = orig.Kr[2];
    Dt      = orig.Dt;
    Dr[0]   = orig.Dr[0];
    Dr[1]   = orig.Dr[1];
    Dr[2]   = orig.Dr[2];
    Kconstraint_3rdDirAlignTangent          = orig.Kconstraint_3rdDirAlignTangent;
    Kconstraint_ScaleIntrinsicStrainRate    = orig.Kconstraint_ScaleIntrinsicStrainRate;
    Kvdamping   = orig.Kvdamping;

    Kgravity    = orig.Kgravity;
#ifdef  TAPs_ADD_RESTING_LEVEL_Y
    RestingLevel    = orig.RestingLevel;
#endif//TAPs_ADD_RESTING_LEVEL_Y

    // These two below will be set by the values of moduli
    Ps      = orig.Ps;
    Pb[0]   = orig.Pb[0];
    Pb[1]   = orig.Pb[1];
    Pb[2]   = orig.Pb[2];

    // For collision detection and response
    EnableSelfCDR   = orig.EnableSelfCDR;
    KselfCDR        = orig.KselfCDR;
    KselfCDR_ScaleDistance  = orig.KselfCDR_ScaleDistance;
    KselfStick      = orig.KselfStick;

    // For collision detection and response with objects
    K_CDRwBV_Cylinder   = orig.K_CDRwBV_Cylinder;
    K_CDRwBV_Sphere     = orig.K_CDRwBV_Sphere;
    K_CDRwTriangle      = orig.K_CDRwTriangle;

    // For collision detection and response with implicit objects
    K_CDRwImpObj_Sphere     = orig.K_CDRwImpObj_Sphere;
    K_CDRwImpObj_Torus      = orig.K_CDRwImpObj_Torus;
    Offset_CD_ImpObj_Sphere = orig.Offset_CD_ImpObj_Sphere;
    Offset_CD_ImpObj_Torus  = orig.Offset_CD_ImpObj_Torus;

    // Simulation time step and iterations
    TimeStep            = orig.TimeStep;
    SimIterationTimes   = orig.SimIterationTimes;

    // Offsets
    Offset_CD_Self          = orig.Offset_CD_Self;
    Offset_CD_SelfStick     = orig.Offset_CD_SelfStick;
    Offset_CD_Triangle      = orig.Offset_CD_Triangle;
    Offset_CD_BV_Sphere     = orig.Offset_CD_BV_Sphere;
    Offset_CD_BV_Cylinder   = orig.Offset_CD_BV_Cylinder;

#ifdef  TAPs_ADD_KNOT_RECOGNITION
    // For knot recognition
    EnableKR            = orig.EnableKR;
    EnableKR_LockKnots  = orig.EnableKR_LockKnots;
    KstickPair          = orig.KstickPair;
#endif//#ifdef  TAPs_ADD_KNOT_RECOGNITION

#ifdef  TAPs_USE_CUDA
    EnableCUDA              = orig.EnableCUDA;
    EnableCUDA_GenDrawData  = orig.EnableCUDA_GenDrawData;
#endif//TAPs_USE_CUDA

    return *this;
}


// StrInfo
template <typename T>
std::string ElasticRodParameters<T>::StrInfo () const
{
    std::stringstream output;
    output  <<  "###############################################################################\n"
            <<  "Name\t" << "\"" << Name << "\"\n"
            <<  "###############################################################################\n"
            //<<    "NumOfLinks\t" << NumOfNodes-1 << "\n"
            <<  "Radius\t" << Radius << "\n"
            <<  "Mass\t" << TotalMass << "\n"
            //<<    "Length\t" << TotalLength << "\n"
            //<<    "Link Length\t" << LinkLength << "\n"
            //<<    "Mass of Point\t" << MassOfPoint << "\n"
            <<  "\n"
            <<  "# SIMULATION CONSTANTS\n"
            <<  "K_Kinetic_Translational\t" << Kt << "\n"
            <<  "K_Kinetic_Rotational\t" << Kr[0] << " " << Kr[1] << " " << Kr[2] << "\n"
            <<  "K_Dissipation_Translational\t" << Dt << "\n"
            <<  "K_Dissipation_Rotational\t" << Dr[0] << " " << Dr[1] << " " << Dr[2] << "\n"
            <<  "K_Constraint_3rdDirAlignTangent\t" << Kconstraint_3rdDirAlignTangent << "\n"
            <<  "K_Damping_Velocity\t" << Kvdamping << "\n"
            <<  "K_Stretching_Modulus\t" << Kstretch_modulus << "\n"
            <<  "K_Bending_Modulus\t" << Kbend_modulus << "\n"
            <<  "K_Shear_Modulus\t" << Kshear_modulus << "\n"
            <<  "K_Material_Density\t" << MaterialDensity << "\n"
            <<  "K_Self_CDR\t" << KselfCDR << "\n"
            //<<    "\n"
            //<<    "#SimTimeStep\t" <<  << "\n"
            //<<    "\t" <<  << "\n"
            <<  "###############################################################################\n"
            << "\n";
    return output.str();
}

// Calculate the dependent parameters
template <typename T>
void ElasticRodParameters<T>::CalDependentParameters ()
{
    LinkLength  = TotalLength / (NumOfNodes-1);
    MassOfPoint = TotalMass / NumOfNodes;

    T area = Math<T>::PI * Radius * Radius;
    Ps = Kstretch_modulus * area;
    Pb[0] = Pb[1] = Kbend_modulus * area * 0.25;
    Pb[2] = Kshear_modulus * area * 0.5;
}

//template <typename T>
//void ElasticRodParameters<T>::ScaleAllSimConstsByTimeStep ()
//{
//  KselfCDR /= TimeStep;
//  K_CDRwBV_Cylinder /= TimeStep;
//  K_CDRwBV_Sphere /= TimeStep;
//  K_CDRwTriangle /= TimeStep;
//}

//=============================================================================
END_NAMESPACE_TAPs
//-----------------------------------------------------------------------------
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