From dc01a9e71f40bfc235819b5ecf52ebaf0468b0a4 Mon Sep 17 00:00:00 2001
From: Sebastian Eibl <sebastian.eibl@fau.de>
Date: Mon, 11 Jun 2018 15:05:51 +0200
Subject: [PATCH] [API] removed contacts from RigidBody
---
src/pe/contact/Contact.cpp | 9 ---
src/pe/cr/DEM.impl.h | 9 +--
src/pe/cr/HCSITS.impl.h | 4 -
src/pe/cr/PlainIntegrator.impl.h | 4 -
src/pe/rigidbody/RigidBody.cpp | 1 -
src/pe/rigidbody/RigidBody.h | 130 -------------------------------
tests/pe/RigidBody.cpp | 4 -
7 files changed, 2 insertions(+), 159 deletions(-)
diff --git a/src/pe/contact/Contact.cpp b/src/pe/contact/Contact.cpp
index ed9e68e28..7bc7dc041 100644
--- a/src/pe/contact/Contact.cpp
+++ b/src/pe/contact/Contact.cpp
@@ -62,17 +62,8 @@ Contact::Contact( GeomID g1, GeomID g2, const Vec3& gpos, const Vec3& normal, re
WALBERLA_ASSERT_FLOAT_EQUAL( normal.sqrLength(), real_c(1), "Invalid contact normal\n" << g1 << "\n" << g2 );
WALBERLA_ASSERT( !( b1_->hasInfiniteMass() && b2_->hasInfiniteMass() ), "Invalid contact between two rigid bodies with infinite masses" );
- // Registering the contact with both attached rigid bodies
-// if( !b1_->hasInfiniteMass() ) b1_->registerContact( this );
-// if( !b2_->hasInfiniteMass() ) b2_->registerContact( this );
-
- // Merging the contact graph
-// if( !b1_->hasInfiniteMass() && !b2_->hasInfiniteMass() )
-// mergeNodes( b1_, b2_ );
-
// Debugging output
WALBERLA_LOG_DETAIL( " => contact-id = " << id_ );
-
}
//*************************************************************************************************
diff --git a/src/pe/cr/DEM.impl.h b/src/pe/cr/DEM.impl.h
index afb7debf6..a3560e50f 100644
--- a/src/pe/cr/DEM.impl.h
+++ b/src/pe/cr/DEM.impl.h
@@ -120,10 +120,6 @@ void DEMSolver<Integrator,ContactResolver>::timestep( real_t dt )
{
WALBERLA_LOG_DETAIL( "Time integration of body with system id " << bodyIt->getSystemID());// << "\n" << *bodyIt );
- // Resetting the contact node and removing all attached contacts
- // bodyIt->resetNode();
- bodyIt->clearContacts();
-
// Checking the state of the body
WALBERLA_ASSERT( bodyIt->checkInvariants(), "Invalid body state detected" );
WALBERLA_ASSERT( !bodyIt->hasSuperBody(), "Invalid superordinate body detected" );
@@ -147,9 +143,8 @@ void DEMSolver<Integrator,ContactResolver>::timestep( real_t dt )
if (tt_ != NULL) tt_->stop("Integration");
// Reset forces of shadow copies
- for( auto bodyIt = shadowStorage.begin(); bodyIt != shadowStorage.end(); ++bodyIt ) {
- bodyIt->clearContacts();
- bodyIt->resetForceAndTorque();
+ for( auto& body : shadowStorage ) {
+ body.resetForceAndTorque();
}
}
diff --git a/src/pe/cr/HCSITS.impl.h b/src/pe/cr/HCSITS.impl.h
index 7046d8a8e..a6d6258b5 100644
--- a/src/pe/cr/HCSITS.impl.h
+++ b/src/pe/cr/HCSITS.impl.h
@@ -1795,10 +1795,6 @@ inline void HardContactSemiImplicitTimesteppingSolvers::integratePositions( Body
if ( body->isFixed() )
return;
- // Resetting the contact node and removing all attached contacts
- body->resetNode();
- body->clearContacts();
-
if( body->isAwake() )
{
if ( isSpeedLimiterActive() )
diff --git a/src/pe/cr/PlainIntegrator.impl.h b/src/pe/cr/PlainIntegrator.impl.h
index 79c401060..e2a45b2f8 100644
--- a/src/pe/cr/PlainIntegrator.impl.h
+++ b/src/pe/cr/PlainIntegrator.impl.h
@@ -68,10 +68,6 @@ void PlainIntegratorSolver<Integrator>::timestep( const real_t dt )
WALBERLA_ASSERT( bd->checkInvariants(), "Invalid body state detected" );
WALBERLA_ASSERT( !bd->hasSuperBody(), "Invalid superordinate body detected" );
- // Resetting the contact node and removing all attached contacts
- // bd->resetNode();
- bd->clearContacts();
-
// Moving the body according to the acting forces (don't move a sleeping body)
if( bd->isAwake() && !bd->hasInfiniteMass() ) {
integrate_( bd.getBodyID(), dt, *this );
diff --git a/src/pe/rigidbody/RigidBody.cpp b/src/pe/rigidbody/RigidBody.cpp
index 45d40109e..eb57563de 100644
--- a/src/pe/rigidbody/RigidBody.cpp
+++ b/src/pe/rigidbody/RigidBody.cpp
@@ -57,7 +57,6 @@ RigidBody::RigidBody( id_t const typeID, id_t sid, id_t uid )
, toBeDeleted_(false) // deletion flag
, sid_ (sid) // System-specific body index
, uid_ (uid) // User-specific body ID
- , contacts_() // Vector of the currently attached contacts
, typeID_(typeID) // geometry type
{
sb_ = this; // The superordinate rigid body
diff --git a/src/pe/rigidbody/RigidBody.h b/src/pe/rigidbody/RigidBody.h
index aa2dcc324..69033ffe9 100644
--- a/src/pe/rigidbody/RigidBody.h
+++ b/src/pe/rigidbody/RigidBody.h
@@ -57,15 +57,6 @@ private:
template <typename BodyTypeTuple>
friend class Union;
- //**Type definitions****************************************************************************
- typedef PtrVector<Contact,NoDelete> Contacts; //!< Vector for attached contacts.
- //**********************************************************************************************
-
-public:
- //**Type definitions****************************************************************************
- typedef Contacts::Iterator ContactIterator; //!< Iterator over the currently attached contacts.
- typedef Contacts::ConstIterator ConstContactIterator; //!< ConstIterator over the currently attached contacts.
- //**********************************************************************************************
protected:
//**Constructor*********************************************************************************
/*!\name Constructor */
@@ -268,20 +259,6 @@ public:
//@}
//**********************************************************************************************
- //**Contact functions***************************************************************************
- /*!\name Contact functions */
- //@{
- inline void registerContact( ContactID contact );
- inline bool hasContacts () const;
- inline void clearContacts();
- inline size_t countContacts() const;
- inline ContactIterator beginContacts();
- inline ConstContactIterator beginContacts() const;
- inline ContactIterator endContacts ();
- inline ConstContactIterator endContacts () const;
- //@}
- //**********************************************************************************************
-
//**MPI functions*******************************************************************************
/*!\name MPI functions */
//@{
@@ -435,7 +412,6 @@ protected:
bool toBeDeleted_; //!< This flag marks the body for deletion during the next synchronization (only works on local bodies)
id_t sid_; //!< The unique system-specific body ID.
id_t uid_; //!< The user-specific body ID.
- Contacts contacts_; //!< Vector for the currently attached contacts.
//@}
//**********************************************************************************************
@@ -1916,112 +1892,6 @@ inline void RigidBody::signalFixation()
-//=================================================================================================
-//
-// CONTACT FUNCTIONS
-//
-//=================================================================================================
-
-//*************************************************************************************************
-/*!\brief Registering a single attached contact with the rigid body.
- *
- * \param contact The contact to be registered with the rigid body.
- * \return void
- */
-inline void RigidBody::registerContact( ContactID contact )
-{
- WALBERLA_ASSERT( !hasSuperBody(), "Invalid contact on subordinate body detected" );
- contacts_.pushBack( contact );
-}
-//*************************************************************************************************
-
-
-//*************************************************************************************************
-/*!\brief Clears all contacts registered with the rigid body.
- *
- * \return void
- */
-inline void RigidBody::clearContacts()
-{
- contacts_.clear();
-}
-//*************************************************************************************************
-
-
-//*************************************************************************************************
-/*!\brief Returns whether any contacts are registered with the rigid body.
- *
- * \return \a true if at least one contact is registered with the rigid body, \a false if not.
- */
-inline bool RigidBody::hasContacts() const
-{
- return !contacts_.isEmpty();
-}
-//*************************************************************************************************
-
-
-//*************************************************************************************************
-/*!\brief Returns the number of currently registered contacts.
- *
- * \return The number of registered contacts.
- */
-inline size_t RigidBody::countContacts() const
-{
- return contacts_.size();
-}
-//*************************************************************************************************
-
-
-//*************************************************************************************************
-/*!\brief Returns an iterator to the first attached contact.
- *
- * \return Iterator to the first attached contact.
- */
-inline RigidBody::ContactIterator RigidBody::beginContacts()
-{
- return contacts_.begin();
-}
-//*************************************************************************************************
-
-
-//*************************************************************************************************
-/*!\brief Returns an iterator to the first attached contact.
- *
- * \return Iterator to the first attached contact.
- */
-inline RigidBody::ConstContactIterator RigidBody::beginContacts() const
-{
- return contacts_.begin();
-}
-//*************************************************************************************************
-
-
-//*************************************************************************************************
-/*!\brief Returns an iterator just past the last attached contact.
- *
- * \return Iterator just past the last attached contact.
- */
-inline RigidBody::ContactIterator RigidBody::endContacts()
-{
- return contacts_.end();
-}
-//*************************************************************************************************
-
-
-//*************************************************************************************************
-/*!\brief Returns an iterator just past the last attached contact.
- *
- * \return Iterator just past the last attached contact.
- */
-inline RigidBody::ConstContactIterator RigidBody::endContacts() const
-{
- return contacts_.end();
-}
-//*************************************************************************************************
-
-
-
-
//=================================================================================================
//
// MPI FUNCTIONS
diff --git a/tests/pe/RigidBody.cpp b/tests/pe/RigidBody.cpp
index 58926892d..f73aa02ef 100644
--- a/tests/pe/RigidBody.cpp
+++ b/tests/pe/RigidBody.cpp
@@ -39,10 +39,6 @@ void move( BodyStorage& storage, real_t dt )
WALBERLA_ASSERT( it->checkInvariants(), "Invalid capsule state detected" );
WALBERLA_ASSERT( !it->hasSuperBody(), "Invalid superordinate body detected" );
- // Resetting the contact node and removing all attached contacts
-// it->resetNode();
- it->clearContacts();
-
// Moving the capsule according to the acting forces (don't move a sleeping body)
if( it->isAwake() ) {
if( !it->hasInfiniteMass() ) {
--
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