Merge branch 'MESAPDHardContactSolvers' into 'master'

Integration of Hard Contact Solvers into MESA-PD

See merge request walberla/walberla!218

python/mesa_pd.py

@@ -90,7 +90,11 @@ if __name__ == '__main__':
    kernels.append( kernel.ExplicitEuler() )
    kernels.append( kernel.ExplicitEulerWithShape() )
    kernels.append( kernel.ForceLJ() )
+   kernels.append( kernel.HCSITSRelaxationStep() )
    kernels.append( kernel.HeatConduction() )
+   kernels.append( kernel.InitParticlesForHCSITS() )
+   kernels.append( kernel.InitContactsForHCSITS() )
+   kernels.append( kernel.IntegrateParticlesHCSITS() )
    kernels.append( kernel.InsertParticleIntoLinkedCells() )
    kernels.append( kernel.LinearSpringDashpot() )
    kernels.append( kernel.NonLinearSpringDashpot() )

python/mesa_pd/kernel/HCSITSRelaxationStep.py

+# -*- coding: utf-8 -*-
+
+from mesa_pd.accessor import Accessor
+from ..Container import Container
+from mesa_pd.utility import generateFile
+
+class HCSITSRelaxationStep(Container):
+   def __init__(self):
+      super().__init__()
+      self.addProperty("maxSubIterations", "size_t", defValue = "20")
+      self.addProperty("relaxationModel", "RelaxationModel", defValue = "InelasticFrictionlessContact")
+      self.addProperty("deltaMax", "real_t", defValue = "0")
+      self.addProperty("cor", "real_t", defValue = "real_t(0.2)")
+
+      self.accessor = Accessor()
+      self.accessor.require("uid",             "walberla::id_t",                                    access="g")
+      self.accessor.require("position",        "walberla::mesa_pd::Vec3",                           access="g")
+      self.accessor.require("linearVelocity",  "walberla::mesa_pd::Vec3",                           access="g")
+      self.accessor.require("angularVelocity", "walberla::mesa_pd::Vec3",                           access="g")
+      self.accessor.require("invMass",         "walberla::real_t",                                  access="g" )
+      self.accessor.require("invInertia",      "walberla::mesa_pd::Mat3",                           access="g" )
+      self.accessor.require("dv",              "walberla::mesa_pd::Vec3",                           access="gr" )
+      self.accessor.require("dw",              "walberla::mesa_pd::Vec3",                           access="gr" )
+
+   def getRequirements(self):
+      return self.accessor
+
+   def generate(self, path):
+      context = dict()
+      context["properties"]      = self.properties
+      context["interface"]        = self.accessor.properties
+      generateFile(path, 'kernel/HCSITSRelaxationStep.templ.h', context)

python/mesa_pd/kernel/InitContactsForHCSITS.py

+# -*- coding: utf-8 -*-
+
+from mesa_pd.accessor import Accessor
+from ..Container import Container
+from mesa_pd.utility import generateFile
+
+class InitContactsForHCSITS(Container):
+   def __init__(self):
+      super().__init__()
+      self.addProperty("erp", "real_t", defValue = "real_t(0.8)")
+      self.addProperty("maximumPenetration", "real_t", defValue ="0")
+
+      self.paccessor = Accessor()
+      self.paccessor.require("uid",             "walberla::id_t",                                    access="g")
+      self.paccessor.require("position",        "walberla::mesa_pd::Vec3",                           access="g")
+      self.paccessor.require("invInertia",      "walberla::mesa_pd::Mat3",                           access="g" )
+      self.paccessor.require("invMass",         "walberla::real_t",                                  access="g" )
+
+
+   def getRequirements(self):
+      return self.paccessor
+
+   def generate(self, path):
+      context = dict()
+      context["properties"]      = self.properties
+      context["material_parameters"] = ["friction"]
+      context["interface"]        = self.paccessor.properties
+      generateFile(path, 'kernel/InitContactsForHCSITS.templ.h', context)

python/mesa_pd/kernel/InitParticlesForHCSITS.py

+# -*- coding: utf-8 -*-
+
+from mesa_pd.accessor import Accessor
+from ..Container import Container
+from mesa_pd.utility import generateFile
+
+class InitParticlesForHCSITS(Container):
+   def __init__(self):
+      super().__init__()
+      self.addProperty("globalAcceleration", "walberla::mesa_pd::Vec3", defValue = "0")
+
+      self.accessor = Accessor()
+      self.accessor.require("uid",             "walberla::id_t",                                    access="g")
+      self.accessor.require("linearVelocity",  "walberla::mesa_pd::Vec3",                           access="gr")
+      self.accessor.require("angularVelocity", "walberla::mesa_pd::Vec3",                           access="gr")
+      self.accessor.require("invMass",         "walberla::real_t",                                  access="g" )
+      self.accessor.require("inertia",         "walberla::mesa_pd::Mat3",                           access="g" )
+      self.accessor.require("invInertia",      "walberla::mesa_pd::Mat3",                           access="g" )
+      self.accessor.require("dv",              "walberla::mesa_pd::Vec3",                           access="gr" )
+      self.accessor.require("dw",              "walberla::mesa_pd::Vec3",                           access="gr" )
+      self.accessor.require("torque",          "walberla::mesa_pd::Vec3",                           access="r" )
+      self.accessor.require("force",           "walberla::mesa_pd::Vec3",                           access="r" )
+
+   def getRequirements(self):
+      return self.accessor
+
+   def generate(self, path):
+      context = dict()
+      context["properties"]      = self.properties
+      context["interface"]       = self.accessor.properties
+      generateFile(path, 'kernel/InitParticlesForHCSITS.templ.h', context)

python/mesa_pd/kernel/IntegrateParticlesHCSITS.py

+# -*- coding: utf-8 -*-
+
+from mesa_pd.accessor import Accessor
+from ..Container import Container
+from mesa_pd.utility import generateFile
+
+class IntegrateParticlesHCSITS(Container):
+   def __init__(self):
+      super().__init__()
+      self.addProperty("speedLimiterActive", "bool", defValue = "false")
+      self.addProperty("speedLimitFactor",    "real_t", defValue ="real_t(1.0)")
+
+      self.accessor = Accessor()
+      self.accessor.require("uid",              "walberla::id_t",                                   access="g")
+      self.accessor.require("position",         "walberla::mesa_pd::Vec3",                          access="gr")
+      self.accessor.require("rotation",         "walberla::mesa_pd::Rot3",                          access="gr")
+      self.accessor.require("linearVelocity",   "walberla::mesa_pd::Vec3",                          access="gr")
+      self.accessor.require("angularVelocity",  "walberla::mesa_pd::Vec3",                          access="gr")
+      self.accessor.require("dv",               "walberla::mesa_pd::Vec3",                          access="g" )
+      self.accessor.require("dw",               "walberla::mesa_pd::Vec3",                          access="g" )
+      self.accessor.require("flags",            "walberla::mesa_pd::data::particle_flags::FlagT",   access="g")
+
+   def getRequirements(self):
+      return self.accessor
+
+   def generate(self, path):
+      context = dict()
+      context["properties"]      = self.properties
+      context["interface"]       = self.accessor.properties
+      generateFile(path, 'kernel/IntegrateParticlesHCSITS.templ.h', context)

python/mesa_pd/kernel/__init__.py

@@ -4,7 +4,11 @@ from .DoubleCast import DoubleCast
 from .ExplicitEuler import ExplicitEuler
 from .ExplicitEulerWithShape import ExplicitEulerWithShape
 from .ForceLJ import ForceLJ
+from .HCSITSRelaxationStep import HCSITSRelaxationStep
 from .HeatConduction import HeatConduction
+from .InitParticlesForHCSITS import InitParticlesForHCSITS
+from .InitContactsForHCSITS import InitContactsForHCSITS
+from .IntegrateParticlesHCSITS import IntegrateParticlesHCSITS
 from .InsertParticleIntoLinkedCells import InsertParticleIntoLinkedCells
 from .LinearSpringDashpot import LinearSpringDashpot
 from .NonLinearSpringDashpot import NonLinearSpringDashpot
@@ -19,7 +23,11 @@ __all__ = ['DoubleCast',
            'ExplicitEuler',
            'ExplicitEulerWithShape',
            'ForceLJ',
+           'HCSITSRelaxationStep',
            'HeatConduction',
+           'InitParticlesForHCSITS',
+           'InitContactsForHCSITS',
+           'IntegrateParticlesHCSITS',
            'InsertParticleIntoLinkedCells',
            'LinearSpringDashpot',
            'NonLinearSpringDashpot',

python/mesa_pd/templates/data/ContactAccessor.templ.h

@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include <mesa_pd/data/IAccessor.h>
+#include <mesa_pd/data/IContactAccessor.h>
 #include <mesa_pd/data/ContactStorage.h>
 
 #include <core/UniqueID.h>
@@ -43,7 +43,7 @@ namespace data {
  * Provides get, set and getRef for all members of the ContactStorage.
  * Can be used as a basis class for a more advanced ContactAccessor.
  */
-class ContactAccessor : public IAccessor
+class ContactAccessor : public IContactAccessor
 {
 public:
    ContactAccessor(const std::shared_ptr<data::ContactStorage>& ps) : ps_(ps) {}

python/mesa_pd/templates/kernel/InitContactsForHCSITS.templ.h

+//======================================================================================================================
+//
+//  This file is part of waLBerla. waLBerla is free software: you can
+//  redistribute it and/or modify it under the terms of the GNU General Public
+//  License as published by the Free Software Foundation, either version 3 of
+//  the License, or (at your option) any later version.
+//
+//  waLBerla is distributed in the hope that it will be useful, but WITHOUT
+//  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+//  FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+//  for more details.
+//
+//  You should have received a copy of the GNU General Public License along
+//  with waLBerla (see COPYING.txt). If not, see <http://www.gnu.org/licenses/>.
+//
+//! \file InitContactsForHCSITS.h
+//! \author Tobias Leemann <tobias.leemann@fau.de>
+//
+//======================================================================================================================
+
+//======================================================================================================================
+//
+//  THIS FILE IS GENERATED - PLEASE CHANGE THE TEMPLATE !!!
+//
+//======================================================================================================================
+
+#pragma once
+
+#include <mesa_pd/common/ParticleFunctions.h>
+#include <mesa_pd/data/DataTypes.h>
+#include <mesa_pd/data/IAccessor.h>
+#include <mesa_pd/data/IContactAccessor.h>
+#include <mesa_pd/data/Flags.h>
+#include <core/logging/Logging.h>
+
+#include <vector>
+
+namespace walberla {
+namespace mesa_pd {
+namespace kernel {
+
+/**
+* Init the datastructures for a contact for later use of the HCSITS-Solver.
+* Call this kernel on all contacts that you want to treat with HCSITS before performing any relaxation timesteps.
+* Use setErp() to set the error reduction parameter, which defines the share of the overlap that is resolved in one step
+* (0 meaning after the relaxation the overlap is the same, 1 meaning the particles will have no overlap after relaxation).
+* Use setFriction(a,b, cof) to define the coefficient of friction cof between materials a and b. It is assumed to be
+ * symmetric w.r.t. the materials.
+* \ingroup mesa_pd_kernel
+*/
+class InitContactsForHCSITS{
+public:
+
+   // Default constructor sets the default values
+   explicit InitContactsForHCSITS(const uint_t numParticleTypes) :
+   numParticleTypes_ (numParticleTypes),
+   {%- for prop in properties %}
+   {{prop.name}}_( {{prop.defValue}} ){{ "," if not loop.last}}
+   {%- endfor %}
+   {
+
+      {% for param in material_parameters %}
+      {{param}}_.resize(numParticleTypes * numParticleTypes, real_t(0));
+      {%- endfor %}
+   }
+
+   // Getter and Setter Functions
+   {%- for prop in properties %}
+   inline const {{prop.type}}& get{{prop.name | capFirst}}() const {return {{prop.name}}_;}
+   inline void set{{prop.name | capFirst}}({{prop.type}} v) { {{prop.name}}_ = v;}
+   {% endfor %}
+
+   // Getter and Setter Functions for material parameter combinations (they are assumed symmetric).
+   {% for param in material_parameters %}
+   inline void set{{param | capFirst}}(const size_t type1, const size_t type2, const real_t& val)
+   {
+      WALBERLA_ASSERT_LESS( type1, numParticleTypes_ );
+      WALBERLA_ASSERT_LESS( type2, numParticleTypes_ );
+      {{param}}_[numParticleTypes_*type1 + type2] = val;
+      {{param}}_[numParticleTypes_*type2 + type1] = val;
+   }
+   {%- endfor %}
+
+   {% for param in material_parameters %}
+   inline real_t get{{param | capFirst}}(const size_t type1, const size_t type2) const
+   {
+      WALBERLA_ASSERT_LESS( type1, numParticleTypes_ );
+      WALBERLA_ASSERT_LESS( type2, numParticleTypes_ );
+      WALBERLA_ASSERT_FLOAT_EQUAL( {{param}}_[numParticleTypes_*type1 + type2],
+              {{param}}_[numParticleTypes_*type2 + type1],
+              "parameter matrix for {{param}} not symmetric!");
+      return {{param}}_[numParticleTypes_*type1 + type2];
+   }
+   {%- endfor %}
+
+   // List material parameters
+   {% for param in material_parameters %}
+   std::vector<real_t> {{param}}_ {};
+   {%- endfor %}
+
+   template<typename CAccessor, typename PAccessor>
+   void operator()(size_t c, CAccessor &ca, PAccessor &pa);
+
+private:
+   // List properties
+   const uint_t numParticleTypes_;
+
+   {% for prop in properties %}
+   {{prop.type}} {{prop.name }}_;
+   {%- endfor %}
+
+   {% for param in parameters %}
+   std::vector<real_t> {{param}}_ {};
+   {%- endfor %}
+
+};
+
+
+template<typename CAccessor, typename PAccessor>
+inline void InitContactsForHCSITS::operator()(size_t c, CAccessor &ca, PAccessor &pa) {
+
+      static_assert(std::is_base_of<data::IContactAccessor, CAccessor>::value, "please provide a valid contact accessor");
+      static_assert(std::is_base_of<data::IAccessor, PAccessor>::value, "please provide a valid particle accessor");
+
+   size_t bId1 = ca.getId1(c);
+   size_t bId2 = ca.getId2(c);
+   ca.setR1(c, ca.getPosition(c) - pa.getPosition(bId1));
+   ca.setR2(c, ca.getPosition(c) - pa.getPosition(bId2));
+
+
+   // construct vector perpendicular to the normal (cross product with cardinal basis vector where the 1 component is where the other vector has its component of smallest magnitude)
+   if (std::fabs(ca.getNormalRef(c)[0]) < std::fabs(ca.getNormalRef(c)[1])) {
+      if (std::fabs(ca.getNormalRef(c)[0]) < std::fabs(ca.getNormalRef(c)[2]))
+         ca.setT(c, Vec3(0, ca.getNormalRef(c)[2], -ca.getNormalRef(c)[1]));   // = n x (1, 0, 0)^T
+      else
+         ca.setT(c, Vec3(ca.getNormalRef(c)[1], -ca.getNormalRef(c)[0], 0));   // = n x (0, 0, 1)^T
+   } else {
+      if (std::fabs(ca.getNormalRef(c)[1]) < std::fabs(ca.getNormalRef(c)[2]))
+         ca.setT(c, Vec3(-ca.getNormalRef(c)[2], 0, ca.getNormalRef(c)[0]));   // = n x (0, 1, 0)^T
+      else
+         ca.setT(c, Vec3(ca.getNormalRef(c)[1], -ca.getNormalRef(c)[0], 0));   // = n x (0, 0, 1)^T
+   }
+   normalize(ca.getTRef(c));
+   ca.setO(c, ca.getNormal(c) % ca.getT(c));
+
+   Mat3 contactframe(ca.getNormal(c), ca.getT(c), ca.getO(c));
+
+   // If the distance is negative then penetration is present. This is an error and should be corrected.
+   // Correcting the whole error is not recommended since due to the linearization the errors cannot
+   // completely fixed anyway and the error reduction will introduce artificial restitution.
+   // However, if the distance is positive then it is not about error correction but the distance that
+   // can still be overcome without penetration and thus no error correction parameter should be applied.
+   if (ca.getDistance(c) < real_t(0.0)) {
+      setMaximumPenetration(std::max(getMaximumPenetration(), -ca.getDistance(c)));
+      ca.getDistanceRef(c) *= erp_;
+   }
+
+   ca.getMuRef(c) = getFriction(pa.getType(bId1), pa.getType(bId2));
+
+   Mat3 diag = -(
+           math::skewSymCrossProduct(ca.getR1(c),
+                                     math::skewSymCrossProduct(pa.getInvInertia(bId1), ca.getR1(c)))
+           + math::skewSymCrossProduct(ca.getR2(c),
+                                       math::skewSymCrossProduct(pa.getInvInertia(bId2), ca.getR2(c))));
+   diag[0] += pa.getInvMass(bId1) + pa.getInvMass(bId2);
+   diag[4] += pa.getInvMass(bId1) + pa.getInvMass(bId2);
+   diag[8] += pa.getInvMass(bId1) + pa.getInvMass(bId2);
+
+   diag = contactframe.getTranspose() * diag * contactframe;
+
+   // Diagonal block is known to be positive-definite and thus an inverse always exists.
+   ca.getDiag_ntoRef(c) = diag;
+   ca.getDiag_nto_invRef(c) = diag.getInverse();
+   ca.getDiag_n_invRef(c) = math::inv(diag[0]);
+   ca.getDiag_to_invRef(c) = Mat2(diag[4], diag[5], diag[7], diag[8]).getInverse();
+}
+
+}
+}
+}

python/mesa_pd/templates/kernel/InitParticlesForHCSITS.templ.h

+//======================================================================================================================
+//
+//  This file is part of waLBerla. waLBerla is free software: you can
+//  redistribute it and/or modify it under the terms of the GNU General Public
+//  License as published by the Free Software Foundation, either version 3 of
+//  the License, or (at your option) any later version.
+//
+//  waLBerla is distributed in the hope that it will be useful, but WITHOUT
+//  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+//  FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+//  for more details.
+//
+//  You should have received a copy of the GNU General Public License along
+//  with waLBerla (see COPYING.txt). If not, see <http://www.gnu.org/licenses/>.
+//
+//! \file InitParticlesForHCSITS.h
+//! \author Tobias Leemann <tobias.leemann@fau.de>
+//
+//======================================================================================================================
+
+//======================================================================================================================
+//
+//  THIS FILE IS GENERATED - PLEASE CHANGE THE TEMPLATE !!!
+//
+//======================================================================================================================
+
+#pragma once
+
+#include <mesa_pd/common/ParticleFunctions.h>
+#include <mesa_pd/data/DataTypes.h>
+#include <mesa_pd/data/IAccessor.h>
+#include <mesa_pd/data/Flags.h>
+#include <core/logging/Logging.h>
+
+#include <vector>
+
+namespace walberla {
+namespace mesa_pd {
+namespace kernel {
+/**
+ * Init the datastructures for the particles for later use of the HCSITS-Solver.
+ * Call this kernel on all particles that will be treated with HCSITS before performing any relaxation timesteps.
+ * Use setGlobalAcceleration() to set an accelleration action uniformly across all particles (e.g. gravity)
+ * \ingroup mesa_pd_kernel
+ */
+class InitParticlesForHCSITS
+{
+public:
+   // Default constructor sets the default values
+   InitParticlesForHCSITS() :
+   {%- for prop in properties %}
+   {{prop.name}}_( {{prop.defValue}} ){{ "," if not loop.last}}
+   {%- endfor %}
+   {}
+
+   // Getter and Setter Functions for properties
+   {%- for prop in properties %}
+   inline const {{prop.type}}& get{{prop.name | capFirst}}() const {return {{prop.name}}_;}
+   inline void set{{prop.name | capFirst}}({{prop.type}} v) { {{prop.name}}_ = v;}
+   {% endfor %}
+
+   template <typename Accessor>
+   void operator()(size_t j, Accessor& ac, real_t dt);
+
+   template <typename Accessor>
+   void initializeVelocityCorrections(Accessor& ac, size_t body, Vec3& dv, Vec3& dw, real_t dt ) const;
+
+private:
+   // List properties
+   {% for prop in properties %}
+   {{prop.type}} {{prop.name }}_;
+   {%- endfor %}
+
+};
+
+
+template <typename Accessor>
+inline void InitParticlesForHCSITS::operator()(size_t j, Accessor& ac, real_t dt)
+{
+   using namespace data::particle_flags;
+   static_assert(std::is_base_of<data::IAccessor, Accessor>::value, "please provide a valid accessor");
+   auto particle_flags = ac.getFlagsRef(j);
+   if (isSet(particle_flags, GLOBAL)){
+      WALBERLA_CHECK( isSet(particle_flags, FIXED), "Global bodies need to have infinite mass as they are not communicated!" );
+      initializeVelocityCorrections( ac, j, ac.getDvRef(j), ac.getDwRef(j), dt ); // use applied external forces to calculate starting velocity
+   }else{
+      initializeVelocityCorrections( ac, j, ac.getDvRef(j), ac.getDwRef(j), dt ); // use applied external forces to calculate starting velocity
+      if(!isSet(particle_flags, FIXED)){ // Update velocities with global acceleration and angular velocity with euler eqn
+         ac.getLinearVelocityRef(j) = ac.getLinearVelocity(j) + getGlobalAcceleration() * dt;
+         ac.getAngularVelocityRef(j) = ac.getAngularVelocity(j) + dt * ( ac.getInvInertia(j) * ( ( ac.getInertia(j) * ac.getAngularVelocity(j) ) % ac.getAngularVelocity(j) ) );
+      }
+   }
+}
+
+
+//*************************************************************************************************
+/*!\brief Calculates the initial velocity corrections of a given body.
+ * \param ac The particle accessor
+ * \param body The body whose velocities to time integrate
+ * \param dv On return the initial linear velocity correction.
+ * \param w On return the initial angular velocity correction.
+ * \param dt The time step size.
+ * \return void
+ *
+ * Calculates the velocity corrections effected by external forces and torques in an explicit Euler
+ * time integration of the velocities of the given body. For fixed objects the velocity corrections
+ * are set to zero. External forces and torques are reset if indicated by the settings.
+ */
+template <typename Accessor>
+inline void InitParticlesForHCSITS::initializeVelocityCorrections(Accessor& ac, size_t body, Vec3& dv, Vec3& dw, real_t dt ) const
+{
+   dv = ( ac.getInvMass(body) * dt ) * ac.getForce(body);
+   dw = dt * ( ac.getInvInertia(body) * ac.getTorque(body) );
+
+   ac.getForceRef(body) = Vec3();
+   ac.getTorqueRef(body) = Vec3();
+}
+//*************************************************************************************************
+
+
+} //namespace kernel
+} //namespace mesa_pd
+} //namespace walberla

python/mesa_pd/templates/kernel/IntegrateParticlesHCSITS.templ.h

+//======================================================================================================================
+//
+//  This file is part of waLBerla. waLBerla is free software: you can
+//  redistribute it and/or modify it under the terms of the GNU General Public
+//  License as published by the Free Software Foundation, either version 3 of
+//  the License, or (at your option) any later version.
+//
+//  waLBerla is distributed in the hope that it will be useful, but WITHOUT
+//  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+//  FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+//  for more details.
+//
+//  You should have received a copy of the GNU General Public License along
+//  with waLBerla (see COPYING.txt). If not, see <http://www.gnu.org/licenses/>.
+//
+//! \file IntegrateParticlesHCSITS.h
+//! \author Sebastian Eibl <sebastian.eibl@fau.de>
+//! \author Tobias Leemann <tobias.leemann@fau.de>
+//
+//======================================================================================================================
+
+//======================================================================================================================
+//
+//  THIS FILE IS GENERATED - PLEASE CHANGE THE TEMPLATE !!!
+//
+//======================================================================================================================
+
+#pragma once
+
+#include <mesa_pd/common/ParticleFunctions.h>
+#include <mesa_pd/data/DataTypes.h>
+#include <mesa_pd/data/IAccessor.h>
+#include <mesa_pd/data/ContactStorage.h>
+#include <mesa_pd/data/Flags.h>
+#include <core/logging/Logging.h>
+#include <core/math/Constants.h>
+
+#include <vector>
+
+namespace walberla {
+namespace mesa_pd {
+namespace kernel {
+
+/**
+ * Kernel performing integration of the particles after the HCSITS iteration is done.
+ * Call this kernel on all particles j to integrate them by a timestep of size dt.
+ * The Speed Limiter limits the number of body radii, a particle can travel in one timestep.
+ * The speed limit factor defines a number of radii that are allowed in a timestep, e.g. a factor of 1 means, that
+ * a particle can only travel one time its radius in each timestep.
+ *
+ * \ingroup mesa_pd_kernel
+ */
+class IntegrateParticlesHCSITS
+{
+   public:
+   // Default constructor sets the default values
+   IntegrateParticlesHCSITS() :
+   {%- for prop in properties %}
+   {{prop.name}}_( {{prop.defValue}} ){{ "," if not loop.last}}
+   {%- endfor %}
+   {}
+
+   // Getter and Setter Functions
+   {%- for prop in properties %}
+   inline const {{prop.type}}& get{{prop.name | capFirst}}() const {return {{prop.name}}_;}
+   inline void set{{prop.name | capFirst}}({{prop.type}} v) { {{prop.name}}_ = v;}
+   {% endfor %}
+
+   template <typename PAccessor>
+   void operator()(size_t j, PAccessor& ac, real_t dt);
+
+   template <typename PAccessor>
+   void integratePositions(PAccessor& ac, size_t body, Vec3 v, Vec3 w, real_t dt ) const;
+
+
+   private:
+   // List properties
+   {% for prop in properties %}
+   {{prop.type}} {{prop.name }}_;
+   {%- endfor %}
+};
+
+
+template <typename PAccessor>
+inline void IntegrateParticlesHCSITS::operator()(size_t j, PAccessor& ac, real_t dt)
+{