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Added new functionality to generate DEM from SPH generator that allow… #409

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95a9a2a
Added new functionality to generate DEM from SPH generator that allow…
swiggins8 Sep 5, 2025
9bf18d3
Update CircularPlaneSolidBoundary.cc
swiggins8 Sep 15, 2025
7d90fe8
Fixed some minor bugs that prevented compiling
swiggins8 Sep 16, 2025
9a16603
Reduced bloat by getting rid of import of cmath, and updated the ATS …
swiggins8 Sep 17, 2025
aa3e67d
Merge branch 'develop' into minorDEMupdates
swiggins8 Mar 10, 2026
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30 changes: 25 additions & 5 deletions src/DEM/SolidBoundary/CircularPlaneSolidBoundary.cc
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Expand Up @@ -20,12 +20,16 @@ namespace Spheral {

template<typename Dimension>
CircularPlaneSolidBoundary<Dimension>::
CircularPlaneSolidBoundary(const Vector& point, const Vector& normal, const Scalar& extent):
CircularPlaneSolidBoundary(const Vector& point,
const Vector& normal,
const Scalar& extent,
const RotationType& angularVelocity):
SolidBoundaryBase<Dimension>(),
mPoint(point),
mNormal(normal),
mExtent(extent),
mVelocity(Vector::zero){
mVelocity(Vector::zero),
mAngularVelocity(angularVelocity){
}

template<typename Dimension>
Expand All @@ -51,7 +55,15 @@ template<typename Dimension>
typename Dimension::Vector
CircularPlaneSolidBoundary<Dimension>::
localVelocity(const Vector& position) const {
return mVelocity;
// Linear velocity component
Vector linearVelocityComponent = mVelocity;

// Angular velocity component: v = w × r
Vector r = position - mPoint; // Position vector from the point of rotation
Vector angularVelocityComponent = DEMDimension<Dimension>::cross(mAngularVelocity,r);

// Total velocity is the sum of linear and angular components
return linearVelocityComponent + angularVelocityComponent;
}

template<typename Dimension>
Expand All @@ -63,16 +75,22 @@ registerState(DataBase<Dimension>& dataBase,
const auto pointKey = boundaryKey +"_point";
const auto velocityKey = boundaryKey +"_velocity";
const auto normalKey = boundaryKey +"_normal";
const auto angularVelocityKey = boundaryKey + "_angularVelocity"; // New key for angular velocity
state.enroll(pointKey,mPoint);
state.enroll(pointKey,mVelocity);
state.enroll(pointKey,mNormal);
state.enroll(velocityKey,mVelocity);
state.enroll(normalKey,mNormal);
state.enroll(angularVelocityKey, mAngularVelocity); // Enroll angular velocity
}

template<typename Dimension>
void
CircularPlaneSolidBoundary<Dimension>::
update(const double multiplier, const double t, const double dt) {
mPoint += multiplier*mVelocity;
// Update the orientation of the boundary based on angular velocity
// Assuming a simple Euler for rotation
mNormal += multiplier * DEMDimension<Dimension>::cross(mAngularVelocity,mNormal) * dt;
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mNormal = mNormal.unitVector(); // Normalize to maintain unit length
}


Expand All @@ -87,6 +105,7 @@ dumpState(FileIO& file, const string& pathName) const {
file.write(mNormal, pathName + "/normal");
file.write(mExtent, pathName + "/extent");
file.write(mVelocity, pathName + "/velocity");
file.write(mAngularVelocity, pathName + "/omega"); // Write angular velocity
}


Expand All @@ -98,6 +117,7 @@ restoreState(const FileIO& file, const string& pathName) {
file.read(mNormal, pathName + "/normal");
file.read(mExtent, pathName + "/extent");
file.read(mVelocity, pathName + "/velocity");
file.read(mAngularVelocity, pathName + "/omega"); // Read angular velocity
}

}
10 changes: 8 additions & 2 deletions src/DEM/SolidBoundary/CircularPlaneSolidBoundary.hh
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Expand Up @@ -21,13 +21,15 @@ class CircularPlaneSolidBoundary : public SolidBoundaryBase<Dimension> {

typedef typename Dimension::Scalar Scalar;
typedef typename Dimension::Vector Vector;
typedef typename DEMDimension<Dimension>::AngularVector RotationType;

public:
//--------------------------- Public Interface ---------------------------//

CircularPlaneSolidBoundary(const Vector& point,
const Vector& normal,
const Scalar& exent);
const Vector& normal,
const Scalar& exent,
const RotationType& angularVelocity);

~CircularPlaneSolidBoundary();

Expand All @@ -53,6 +55,9 @@ public:
const Vector& velocity() const;
void velocity(const Vector& value);

const RotationType& angularVelocity() const;
void angularVelocity(const RotationType& value);

virtual std::string label() const override { return "CircularPlaneSolidBoundary" ; }
virtual void dumpState(FileIO& file, const std::string& pathName) const override;
virtual void restoreState(const FileIO& file, const std::string& pathName) override;
Expand All @@ -63,6 +68,7 @@ protected:
Vector mNormal;
Scalar mExtent;
Vector mVelocity;
RotationType mAngularVelocity;

private:
//--------------------------- Private Interface ---------------------------//
Expand Down
17 changes: 17 additions & 0 deletions src/DEM/SolidBoundary/CircularPlaneSolidBoundaryInline.hh
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Expand Up @@ -33,6 +33,7 @@ normal(const typename Dimension::Vector& value) {
mNormal = value;
}


template<typename Dimension>
inline
typename Dimension::Scalar
Expand All @@ -49,6 +50,7 @@ extent(typename Dimension::Scalar value) {
mExtent=value;
}


template<typename Dimension>
inline
const typename Dimension::Vector&
Expand All @@ -65,4 +67,19 @@ velocity(const typename Dimension::Vector& value) {
mVelocity=value;
}


template<typename Dimension>
inline
const typename DEMDimension<Dimension>::AngularVector&
CircularPlaneSolidBoundary<Dimension>::
angularVelocity() const {
return mAngularVelocity;
}

template<typename Dimension>
inline
void
CircularPlaneSolidBoundary<Dimension>::
angularVelocity(const typename DEMDimension<Dimension>::AngularVector& value) {
mAngularVelocity=value;
}
35 changes: 27 additions & 8 deletions src/DEM/SolidBoundary/CylinderSolidBoundary.cc
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Expand Up @@ -20,15 +20,17 @@ namespace Spheral {
template<typename Dimension>
CylinderSolidBoundary<Dimension>::
CylinderSolidBoundary(const Vector& point,
const Vector& axis,
const Scalar radius,
const Scalar length):
const Vector& axis,
const Scalar radius,
const Scalar length,
const RotationType& angularVelocity):
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@jmpearl jmpearl Sep 8, 2025

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If angularVelocity must be aligned with the axis this should be enforced somehow

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@swiggins8 swiggins8 Sep 15, 2025 •
edited
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What would you suggest for enforcement of that? I feel like keeping it a simple vector makes sense for conveying that it can't do complex rotation. But I'm open to ideas.

SolidBoundaryBase<Dimension>(),
mPoint(point),
mAxis(axis),
mRadius(radius),
mLength(length),
mVelocity(Vector::zero){
mVelocity(Vector::zero),
mAngularVelocity(angularVelocity){
}

template<typename Dimension>
Expand All @@ -52,7 +54,15 @@ template<typename Dimension>
typename Dimension::Vector
CylinderSolidBoundary<Dimension>::
localVelocity(const Vector& position) const {
return mVelocity;
// Calculate the vector from the axis of rotation to the position
const auto p = position - mPoint;
const auto pnMag = p.dot(mAxis);
const auto pn = pnMag * mAxis;
const auto r = p - pn; // Radial vector from the axis to the position
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@jmpearl jmpearl Sep 8, 2025

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Why did you remove the radial component here on the position, would that assume that mAngularVelocity and mAxis are aligned?

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@swiggins8 swiggins8 Sep 15, 2025

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Yeah I assume that the angular velocity is always around the central axis


// Calculate the tangential velocity due to angular velocity
const auto tangentialVelocity = DEMDimension<Dimension>::cross(r,mAngularVelocity);
return mVelocity + tangentialVelocity;
}

template<typename Dimension>
Expand All @@ -62,18 +72,25 @@ registerState(DataBase<Dimension>& dataBase,
State<Dimension>& state) {
const auto boundaryKey = "CylinderSolidBoundary_" + std::to_string(std::abs(this->uniqueIndex()));
const auto pointKey = boundaryKey +"_point";
const auto axisKey = boundaryKey +"_axis";
const auto radiusKey = boundaryKey +"_radius";
const auto lengthKey = boundaryKey +"_length";
const auto velocityKey = boundaryKey +"_velocity";
//const auto normalKey = boundaryKey +"_normal";
const auto angularVelocityKey = boundaryKey + "_angularVelocity"; // Key for angular velocity
state.enroll(pointKey,mPoint);
state.enroll(pointKey,mVelocity);
//state.enroll(pointKey,mNormal);
state.enroll(axisKey,mAxis);
state.enroll(radiusKey,mRadius);
state.enroll(lengthKey,mLength);
state.enroll(velocityKey,mVelocity);
state.enroll(angularVelocityKey, mAngularVelocity); // Enroll angular velocity
}

template<typename Dimension>
void
CylinderSolidBoundary<Dimension>::
update(const double multiplier, const double t, const double dt) {
mPoint += multiplier*mVelocity;
// If we want more complex rotation we'll need more complex logic here.
}

//------------------------------------------------------------------------------
Expand All @@ -88,6 +105,7 @@ dumpState(FileIO& file, const string& pathName) const {
file.write(mRadius, pathName + "/radius");
file.write(mLength, pathName + "/length");
file.write(mVelocity, pathName + "/velocity");
file.write(mAngularVelocity, pathName + "/omega"); // Write angular velocity
}


Expand All @@ -100,6 +118,7 @@ restoreState(const FileIO& file, const string& pathName) {
file.read(mRadius, pathName + "/radius");
file.read(mLength, pathName + "/length");
file.read(mVelocity, pathName + "/velocity");
file.read(mAngularVelocity, pathName + "/omega"); // Read angular velocity
}


Expand Down
12 changes: 9 additions & 3 deletions src/DEM/SolidBoundary/CylinderSolidBoundary.hh
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Expand Up @@ -21,14 +21,16 @@ class CylinderSolidBoundary : public SolidBoundaryBase<Dimension> {
typedef typename Dimension::Scalar Scalar;
typedef typename Dimension::Vector Vector;
typedef typename Dimension::Tensor Tensor;
typedef typename DEMDimension<Dimension>::AngularVector RotationType;

public:
//--------------------------- Public Interface ---------------------------//

CylinderSolidBoundary(const Vector& point,
const Vector& axis,
const Scalar radius,
const Scalar length);
const Vector& axis,
const Scalar radius,
const Scalar length,
const RotationType& angularVelocity);

~CylinderSolidBoundary();

Expand Down Expand Up @@ -57,6 +59,9 @@ public:
const Vector& velocity() const;
void velocity(const Vector& value);

const RotationType& angularVelocity() const;
void angularVelocity(const RotationType& value);

virtual std::string label() const override { return "CylinderSolidBoundary" ; }
virtual void dumpState(FileIO& file, const std::string& pathName) const override;
virtual void restoreState(const FileIO& file, const std::string& pathName) override;
Expand All @@ -69,6 +74,7 @@ protected:
Scalar mLength;

Vector mVelocity;
RotationType mAngularVelocity;

private:
//--------------------------- Private Interface ---------------------------//
Expand Down
20 changes: 20 additions & 0 deletions src/DEM/SolidBoundary/CylinderSolidBoundaryInline.hh
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Expand Up @@ -16,6 +16,7 @@ point(const typename Dimension::Vector& value) {
mPoint=value;
}


template<typename Dimension>
inline
const typename Dimension::Vector&
Expand All @@ -32,6 +33,7 @@ axis(const typename Dimension::Vector& value) {
mAxis=value;
}


template<typename Dimension>
inline
typename Dimension::Scalar
Expand All @@ -48,6 +50,7 @@ length(typename Dimension::Scalar value) {
mLength=value;
}


template<typename Dimension>
inline
typename Dimension::Scalar
Expand All @@ -64,6 +67,7 @@ radius(typename Dimension::Scalar value) {
mRadius=value;
}


template<typename Dimension>
inline
const typename Dimension::Vector&
Expand All @@ -80,4 +84,20 @@ velocity(const typename Dimension::Vector& value) {
mVelocity=value;
}


template<typename Dimension>
inline
const typename DEMDimension<Dimension>::AngularVector&
CylinderSolidBoundary<Dimension>::
angularVelocity() const {
return mAngularVelocity;
}

template<typename Dimension>
inline
void
CylinderSolidBoundary<Dimension>::
angularVelocity(const typename DEMDimension<Dimension>::AngularVector& value) {
mAngularVelocity=value;
}
}
16 changes: 13 additions & 3 deletions src/DEM/SolidBoundary/InfinitePlaneSolidBoundary.cc
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Expand Up @@ -19,11 +19,14 @@ namespace Spheral {

template<typename Dimension>
InfinitePlaneSolidBoundary<Dimension>::
InfinitePlaneSolidBoundary(const Vector& point, const Vector& normal):
InfinitePlaneSolidBoundary(const Vector& point,
const Vector& normal,
const RotationType& angularVelocity):
SolidBoundaryBase<Dimension>(),
mPoint(point),
mNormal(normal),
mVelocity(Vector::zero){
mVelocity(Vector::zero),
mAngularVelocity(angularVelocity){
}

template<typename Dimension>
Expand All @@ -42,7 +45,7 @@ template<typename Dimension>
typename Dimension::Vector
InfinitePlaneSolidBoundary<Dimension>::
localVelocity(const Vector& position) const {
return mVelocity;
return mVelocity + DEMDimension<Dimension>::cross((position-mPoint),mAngularVelocity); // Include angular velocity effect
}

template<typename Dimension>
Expand All @@ -57,13 +60,18 @@ registerState(DataBase<Dimension>& dataBase,
state.enroll(pointKey,mPoint);
state.enroll(velocityKey,mVelocity);
state.enroll(normalKey,mNormal);
state.enroll(angularVelocityKey, mAngularVelocity); // Enroll angular velocity
}

template<typename Dimension>
void
InfinitePlaneSolidBoundary<Dimension>::
update(const double multiplier, const double t, const double dt) {
mPoint += multiplier*mVelocity;
// Update the normal vector based on angular velocity
// Using a small angle approximation: newNormal = oldNormal + dt * (angularVelocity x oldNormal)
mNormal += multiplier * DEMDimension<Dimension>::cross(mNormal,mAngularVelocity);
mNormal = mNormal.unitVector(); // Normalize to maintain it as a unit vector
}

//------------------------------------------------------------------------------
Expand All @@ -76,6 +84,7 @@ dumpState(FileIO& file, const string& pathName) const {
file.write(mPoint, pathName + "/point");
file.write(mNormal, pathName + "/normal");
file.write(mVelocity, pathName + "/velocity");
file.write(mAngularVelocity, pathName + "/omega"); // Write angular velocity
}


Expand All @@ -86,6 +95,7 @@ restoreState(const FileIO& file, const string& pathName) {
file.read(mPoint, pathName + "/point");
file.read(mNormal, pathName + "/normal");
file.read(mVelocity, pathName + "/velocity");
file.read(mAngularVelocity, pathName + "/omega"); // Read angular velocity
}

}
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