pe_coupling: Added force/torque storage/setting functionality

src/pe_coupling/utility/BodiesForceAndTorqueContainer.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 BodiesForceAndTorqueContainer.h
+//! \ingroup pe_coupling
+//! \author Christoph Rettinger <christoph.rettinger@fau.de>
+//
+//======================================================================================================================
+
+#pragma once
+
+#include "core/math/Vector3.h"
+#include "domain_decomposition/StructuredBlockStorage.h"
+#include "pe/rigidbody/BodyIterators.h"
+#include "pe/synchronization/SyncForces.h"
+
+#include <map>
+#include <vector>
+
+namespace walberla {
+namespace pe_coupling {
+
+class BodiesForceAndTorqueContainer
+{  
+public:
+
+   BodiesForceAndTorqueContainer( const shared_ptr<StructuredBlockStorage> & blockStorage, const BlockDataID & bodyStorageID )
+   : blockStorage_( blockStorage ), bodyStorageID_( bodyStorageID )
+     { }
+
+   void operator()()
+   {
+      store();
+   }
+
+   void store()
+   {
+      // clear map
+      clear();
+
+      // sum up all forces/torques from shadow copies on local body (owner)
+      pe::reduceForces( blockStorage_->getBlockStorage(), bodyStorageID_ );
+      // send total forces/torques to shadow owners
+      pe::distributeForces( blockStorage_->getBlockStorage(), bodyStorageID_ );
+
+      // (re-)build map
+      for( auto blockIt = blockStorage_->begin(); blockIt != blockStorage_->end(); ++blockIt )
+      {
+         for( auto bodyIt = pe::BodyIterator::begin(*blockIt, bodyStorageID_); bodyIt != pe::BodyIterator::end(); ++bodyIt )
+         {
+            auto & f = bodyForceAndTorqueMap_[ bodyIt->getSystemID() ];
+
+            // only add if body has not been added already before (from another block)
+            if( f.empty() )
+            {
+               const auto & force = bodyIt->getForce();
+               f.push_back( force[0] );
+               f.push_back( force[1] );
+               f.push_back( force[2] );
+
+               const auto & torque = bodyIt->getTorque();
+               f.push_back( torque[0] );
+               f.push_back( torque[1] );
+               f.push_back( torque[2] );
+            }
+
+            // reset of force/torque on remote bodies necessary to erase the multiple occurrences of forces/torques on bodies
+            // (due to call to distributeForces() before)
+            if ( bodyIt->isRemote() )
+            {
+               bodyIt->resetForceAndTorque();
+            }
+         }
+      }
+
+   }
+
+   void setOnBodies()
+   {
+      // owning process sets the force/torque on the bodies
+      for( auto blockIt = blockStorage_->begin(); blockIt != blockStorage_->end(); ++blockIt )
+      {
+         for( auto bodyIt = pe::LocalBodyIterator::begin(*blockIt, bodyStorageID_); bodyIt != pe::LocalBodyIterator::end(); ++bodyIt )
+         {
+            const auto &f = bodyForceAndTorqueMap_[bodyIt->getSystemID()];
+            bodyIt->addForce ( f[0], f[1], f[2] );
+            bodyIt->addTorque( f[3], f[4], f[5] );
+         }
+      }
+   }
+
+   void clear()
+   {
+      bodyForceAndTorqueMap_.clear();
+   }
+
+private:
+
+   shared_ptr<StructuredBlockStorage> blockStorage_;
+   const BlockDataID bodyStorageID_;
+   std::map< walberla::id_t, std::vector<real_t> > bodyForceAndTorqueMap_;
+};
+
+} // namespace pe_coupling
+} // namespace walberla

src/pe_coupling/utility/all.h

@@ -22,5 +22,6 @@
 
 #pragma once
 
+#include "BodiesForceAndTorqueContainer.h"
 #include "LubricationCorrection.h"
 #include "TimeStep.h"