change the small deformation to finite deformation. #540
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Xiangyu-Hu
requested changes
Mar 7, 2024
DongWuTUM
reviewed
Mar 12, 2024
| dangular_vel_dt_[index_i] = getRotationFromPseudoNormalForSmallDeformation( | ||
| Vec3d(local_dpseudo_b_n_d2t), Vec3d(local_dpseudo_n_d2t), Vec3d(rotation_[index_i]), Vec3d(angular_vel_[index_i]), dt); | ||
| dangular_b_vel_dt_[index_i] = getRotationFromPseudoNormalForFiniteDeformation_b( | ||
| Vec3d(local_dpseudo_b_n_d2t), Vec3d(rotation_b_[index_i]), Vec3d(angular_b_vel_[index_i]), dt); |
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Here, Vec3d is not needed, since the slender structure simulation is always 3D.
| Vec3d(local_dpseudo_b_n_d2t), Vec3d(local_dpseudo_n_d2t), Vec3d(rotation_[index_i]), Vec3d(angular_vel_[index_i]), dt); | ||
| dangular_b_vel_dt_[index_i] = getRotationFromPseudoNormalForFiniteDeformation_b( | ||
| Vec3d(local_dpseudo_b_n_d2t), Vec3d(rotation_b_[index_i]), Vec3d(angular_b_vel_[index_i]), dt); | ||
| dangular_vel_dt_[index_i] = getRotationFromPseudoNormalForFiniteDeformation( |
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Please notice the writing, thanks:) Two more spaces here.
| @@ -70,10 +70,43 @@ Vec3d getRotationFromPseudoNormalForFiniteDeformation(const Vec3d &dpseudo_n_d2t | |||
| Real angle_vel_dt_1 = rotation_1_a * rotation_1_a * (rotation_1_b1 * cos_rotation_1 + rotation_1_b2 * sin_rotation_1) / | |||
| (rotation_1_b1 * rotation_1_b1 + rotation_1_b2 * rotation_1_b2 + Eps); | |||
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| return Vec3d(angle_vel_dt_0, angle_vel_dt_1, 0.0); | |||
| return Vec3d(0, angle_vel_dt_1, 0.0); | |||
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For writing consistency, 0.0 should be here.
| 2.0 * angular_b_vel[0] * angular_b_vel[2] * sin_rotation_b_2 * sin_rotation_b_0 * cos_rotation_b_0; | ||
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| Real angle_b_vel_dt_2 = rotation_b_c * rotation_b_c * (rotation_b_c1 * cos_rotation_b_2 + rotation_b_c2 * sin_rotation_b_2) / (rotation_b_c1 * rotation_b_c1 + rotation_b_c2 * rotation_b_c2 + Eps); | ||
| return Vec3d(0, 0.0, angle_b_vel_dt_2); |
| angular_vel[1] * angular_vel[1] * cos_rotation_0 + angular_vel[0] * angular_vel[0] * cos_rotation_0); | ||
| Real rotation_0_b = sin_rotation_0 * angular_vel[0] * angular_vel[0] - dpseudo_n_d2t[1]; | ||
| Real angle_vel_dt_0 = sin_rotation_0 * rotation_0_a + cos_rotation_0 * rotation_0_b; | ||
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| */ |
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| Vec3d(local_dpseudo_b_n_d2t), Vec3d(local_dpseudo_n_d2t), Vec3d(rotation_b_[index_i]), Vec3d(angular_b_vel_[index_i]), dt); | ||
| dangular_vel_dt_[index_i] = getRotationFromPseudoNormalForSmallDeformation( | ||
| Vec3d(local_dpseudo_b_n_d2t), Vec3d(local_dpseudo_n_d2t), Vec3d(rotation_[index_i]), Vec3d(angular_vel_[index_i]), dt); | ||
| dangular_b_vel_dt_[index_i] = getRotationFromPseudoNormalForFiniteDeformation_b( |
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Since this pull request focuses on Finite Deformation/Rotation, could you add a test case with a large rotation?
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The small deformation is replaced by fintie deformation. Now the beam can be defromed in any direction with the rotation large than pi/2