Merge branch '43-pe-union-should-conserve-momentum-upon-creation' into 'master'

Resolve "PE Union should conserve momentum upon creation"

Closes #43

See merge request walberla/walberla!66

src/pe/rigidbody/Union.h

@@ -703,6 +703,13 @@ void Union<BodyTypeTuple>::add( BodyID body )
    if( body->isGlobal() ^ global_ )
       throw std::logic_error( "Global flags of body and union do not match" );
 
+   Vec3 oldCenterOfMass = getPosition();
+   Vec3 oldImpulse      = getLinearVel() * getMass();
+
+   Vec3 bodyCenterOfMass = body->getPosition();
+   Vec3 bodyImpulse      = body->getLinearVel() * body->getMass();
+
+
    // Registering the rigid body
    body->setSB(this);
    bodies_.pushBack( body );
@@ -723,6 +730,14 @@ void Union<BodyTypeTuple>::add( BodyID body )
    // Setting the moment of inertia
    calcInertia();
 
+   //moving impuls to union
+   setLinearVel( Vec3(0,0,0) );
+   setAngularVel( Vec3(0,0,0) );
+   addImpulseAtPos( oldImpulse, oldCenterOfMass);
+   addImpulseAtPos( bodyImpulse, bodyCenterOfMass);
+   body->setLinearVel( Vec3(0,0,0) );
+   body->setAngularVel( Vec3(0,0,0) );
+
    // Signaling the internal modification to the superordinate body
    signalModification();
 }

tests/pe/Union.cpp

@@ -47,12 +47,8 @@ using namespace walberla::blockforest;
 typedef Union< boost::tuple<Sphere> >          UnionType ;
 typedef boost::tuple<Sphere, Plane, UnionType> BodyTuple ;
 
-int main( int argc, char ** argv )
+void SnowManFallingOnPlane()
 {
-   walberla::debug::enterTestMode();
-
-   walberla::MPIManager::instance()->initializeMPI( &argc, &argv );
-
    shared_ptr<BodyStorage> globalBodyStorage = make_shared<BodyStorage>();
 
    // create blocks
@@ -102,6 +98,36 @@ int main( int argc, char ** argv )
    WALBERLA_CHECK_FLOAT_EQUAL( (sp1->getPosition() - sp2->getPosition()).length(), real_t(sqrt(2)) );
 
    //WALBERLA_LOG_DEVEL(un);
+}
+
+void ImpulsCarryover()
+{
+   MaterialID iron = Material::find("iron");
+
+   UnionType* un   = new Union< boost::tuple<Sphere> >(12, 0, Vec3(0,0,0), Vec3(0,0,0), Quat(), false, true, false);
+   SphereID sp1    = new Sphere( 10, 0, Vec3( 1,0,0), Vec3(0,0,0), Quat(), real_t(1), iron, false, true, false );
+   SphereID sp2    = new Sphere( 11, 0, Vec3(-1,0,0), Vec3(0,0,0), Quat(), real_t(1), iron, false, true, false );
+   sp1->setLinearVel(Vec3(0,real_c(+1),0));
+   sp2->setLinearVel(Vec3(0,real_c(-1),0));
+
+   un->add(sp1);
+   un->add(sp2);
+
+   WALBERLA_CHECK_FLOAT_EQUAL( un->getPosition(),  Vec3(0,0,0) );
+   WALBERLA_CHECK_FLOAT_EQUAL( un->getLinearVel(), Vec3(0,0,0) );
+   WALBERLA_CHECK_FLOAT_EQUAL( un->getAngularVel() * Vec3(1,0,0), real_t(0) );
+   WALBERLA_CHECK_FLOAT_EQUAL( un->getAngularVel() * Vec3(0,1,0), real_t(0) );
+   WALBERLA_CHECK_GREATER( un->getAngularVel() * Vec3(0,0,1), real_t(0) );
+}
+
+int main( int argc, char ** argv )
+{
+   walberla::debug::enterTestMode();
+
+   walberla::MPIManager::instance()->initializeMPI( &argc, &argv );
+
+   SnowManFallingOnPlane();
+   ImpulsCarryover();
 
    return EXIT_SUCCESS;
 }