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tcollision-2floes-oblique.jl - Granular.jl - Julia package for granular dynamic… |
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git clone git://src.adamsgaard.dk/Granular.jl |
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--- |
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tcollision-2floes-oblique.jl (25824B) |
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--- |
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1 #!/usr/bin/env julia |
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2 |
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3 # Check for conservation of kinetic energy (=momentum) during a normal c… |
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4 # between two ice cylindrical grains |
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5 |
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6 verbose=false |
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7 |
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8 @info "## Contact-normal elasticity only" |
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9 @info "# One ice floe fixed" |
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10 sim = Granular.createSimulation(id="test") |
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11 Granular.addGrainCylindrical!(sim, [0., 10.], 10., 1., verbose=verbose) |
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12 Granular.addGrainCylindrical!(sim, [19., 0.], 10., 1., verbose=verbose) |
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13 sim.grains[1].lin_vel[1] = 0.1 |
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14 sim.grains[1].contact_dynamic_friction = 0. |
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15 sim.grains[2].contact_dynamic_friction = 0. |
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16 sim.grains[2].fixed = true |
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17 |
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18 E_kin_lin_init = Granular.totalGrainKineticTranslationalEnergy(sim) |
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19 E_kin_rot_init = Granular.totalGrainKineticRotationalEnergy(sim) |
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20 |
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21 # With decreasing timestep (epsilon towards 0), the explicit integration… |
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22 # should become more correct |
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23 |
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24 Granular.setTotalTime!(sim, 30.0) |
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25 #sim.file_time_step = 1. |
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26 sim_init = deepcopy(sim) |
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27 |
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28 @info "Testing kinetic energy conservation with Two-term Taylor scheme" |
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29 Granular.setTimeStep!(sim, epsilon=0.07) |
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30 tol = 0.1 |
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31 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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32 Granular.run!(sim, temporal_integration_method="Two-term Taylor", verbos… |
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33 |
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34 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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35 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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36 E_thermal_final = Granular.totalGrainThermalEnergy(sim) |
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37 @test E_kin_lin_init ≈ E_kin_lin_final+E_thermal_final atol=E_kin_lin_… |
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38 @test E_kin_rot_init ≈ E_kin_rot_final |
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39 |
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40 |
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41 @info "Testing kinetic energy conservation with Two-term Taylor scheme" |
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42 sim = deepcopy(sim_init) |
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43 Granular.setTimeStep!(sim, epsilon=0.007) |
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44 tol = 0.01 |
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45 @info "Relative tolerance: $(tol*100.)%" |
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46 Granular.run!(sim, temporal_integration_method="Two-term Taylor", verbos… |
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47 |
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48 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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49 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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50 E_thermal_final = Granular.totalGrainThermalEnergy(sim) |
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51 @test E_kin_lin_init ≈ E_kin_lin_final+E_thermal_final atol=E_kin_lin_… |
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52 @test E_kin_rot_init ≈ E_kin_rot_final |
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53 |
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54 |
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55 @info "Testing kinetic energy conservation with Three-term Taylor scheme" |
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56 sim = deepcopy(sim_init) |
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57 Granular.setTimeStep!(sim, epsilon=0.07) |
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58 tol = 0.01 |
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59 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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60 Granular.run!(sim, temporal_integration_method="Three-term Taylor", verb… |
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61 |
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62 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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63 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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64 E_thermal_final = Granular.totalGrainThermalEnergy(sim) |
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65 @test E_kin_lin_init ≈ E_kin_lin_final+E_thermal_final atol=E_kin_lin_… |
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66 @test E_kin_rot_init ≈ E_kin_rot_final |
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67 |
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68 @info "# Ice floes free to move" |
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69 |
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70 sim = Granular.createSimulation(id="test") |
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71 Granular.addGrainCylindrical!(sim, [0., 10.], 10., 1., verbose=verbose) |
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72 Granular.addGrainCylindrical!(sim, [19.0, 0.], 10., 1., verbose=verbose) |
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73 sim.grains[1].lin_vel[1] = 0.1 |
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74 sim.grains[1].contact_dynamic_friction = 0. |
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75 sim.grains[2].contact_dynamic_friction = 0. |
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76 |
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77 E_kin_lin_init = Granular.totalGrainKineticTranslationalEnergy(sim) |
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78 E_kin_rot_init = Granular.totalGrainKineticRotationalEnergy(sim) |
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79 |
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80 # With decreasing timestep (epsilon towards 0), the explicit integration… |
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81 # should become more correct |
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82 |
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83 Granular.setTotalTime!(sim, 30.0) |
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84 sim_init = deepcopy(sim) |
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85 |
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86 @info "Testing kinetic energy conservation with Two-term Taylor scheme" |
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87 Granular.setTimeStep!(sim, epsilon=0.07) |
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88 tol = 0.1 |
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89 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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90 Granular.run!(sim, temporal_integration_method="Two-term Taylor", verbos… |
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91 |
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92 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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93 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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94 @test E_kin_lin_init ≈ E_kin_lin_final atol=E_kin_lin_init*tol |
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95 @test E_kin_rot_init ≈ E_kin_rot_final |
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96 |
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97 |
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98 @info "Testing kinetic energy conservation with Two-term Taylor scheme" |
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99 sim = deepcopy(sim_init) |
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100 Granular.setTimeStep!(sim, epsilon=0.007) |
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101 tol = 0.01 |
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102 @info "Relative tolerance: $(tol*100.)%" |
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103 Granular.run!(sim, temporal_integration_method="Two-term Taylor", verbos… |
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104 |
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105 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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106 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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107 @test E_kin_lin_init ≈ E_kin_lin_final atol=E_kin_lin_init*tol |
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108 @test E_kin_rot_init ≈ E_kin_rot_final |
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109 |
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110 |
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111 @info "Testing kinetic energy conservation with Three-term Taylor scheme" |
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112 sim = deepcopy(sim_init) |
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113 Granular.setTimeStep!(sim, epsilon=0.07) |
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114 tol = 0.01 |
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115 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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116 Granular.run!(sim, temporal_integration_method="Three-term Taylor", |
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117 verbose=verbose) |
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118 |
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119 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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120 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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121 @test E_kin_lin_init ≈ E_kin_lin_final atol=E_kin_lin_init*tol |
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122 @test E_kin_rot_init ≈ E_kin_rot_final |
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123 |
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124 |
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125 @info "## Contact-normal elasticity and tangential viscosity and frictio… |
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126 Granular.setTotalTime!(sim, 30.0) |
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127 sim_init.grains[1].contact_viscosity_tangential = 1e6 |
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128 sim_init.grains[2].contact_viscosity_tangential = 1e6 |
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129 sim_init.grains[1].contact_dynamic_friction = 1e2 # no Coulomb sliding |
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130 sim_init.grains[2].contact_dynamic_friction = 1e2 # no Coulomb sliding |
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131 sim_init.grains[2].fixed = true |
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132 sim = deepcopy(sim_init) |
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133 |
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134 |
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135 @info "Testing kinetic energy conservation with Two-term Taylor scheme" |
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136 Granular.setTimeStep!(sim, epsilon=0.07) |
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137 tol = 0.1 |
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138 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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139 Granular.setOutputFileInterval!(sim, 1.0) |
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140 Granular.run!(sim, temporal_integration_method="Two-term Taylor", |
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141 verbose=verbose) |
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142 |
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143 @test sim.grains[1].ang_pos[3] < 0. |
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144 @test sim.grains[1].ang_vel[3] < 0. |
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145 @test sim.grains[2].ang_pos[3] ≈ 0. |
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146 @test sim.grains[2].ang_vel[3] ≈ 0. |
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147 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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148 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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149 println(E_kin_lin_init) |
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150 println(E_kin_lin_final) |
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151 println(E_kin_rot_init) |
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152 println(E_kin_rot_final) |
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153 @test E_kin_lin_init+E_kin_rot_init ≈ E_kin_lin_final+E_kin_rot_final … |
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154 |
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155 @info "mu_d = 0." |
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156 sim = deepcopy(sim_init) |
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157 sim.grains[1].contact_dynamic_friction = 0. |
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158 Granular.setTimeStep!(sim, epsilon=0.07) |
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159 tol = 0.01 |
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160 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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161 E_kin_lin_init = Granular.totalGrainKineticTranslationalEnergy(sim) |
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162 E_kin_rot_init = Granular.totalGrainKineticRotationalEnergy(sim) |
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163 Granular.run!(sim, temporal_integration_method="Three-term Taylor", |
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164 verbose=verbose) |
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165 |
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166 @test sim.grains[1].ang_pos[3] ≈ 0. |
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167 @test sim.grains[1].ang_vel[3] ≈ 0. |
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168 @test sim.grains[2].ang_pos[3] ≈ 0. |
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169 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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170 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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171 @test E_kin_lin_init ≈ E_kin_lin_final atol=E_kin_lin_init*tol |
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172 @test E_kin_rot_init ≈ E_kin_rot_final |
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173 |
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174 @info "Testing kinetic energy conservation with Two-term Taylor scheme" |
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175 sim = deepcopy(sim_init) |
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176 Granular.setTimeStep!(sim, epsilon=0.007) |
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177 tol = 0.1 |
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178 @info "Relative tolerance: $(tol*100.)%" |
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179 Granular.run!(sim, temporal_integration_method="Two-term Taylor", |
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180 verbose=verbose) |
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181 |
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182 @test sim.grains[1].ang_pos[3] < 0. |
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183 @test sim.grains[1].ang_vel[3] < 0. |
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184 @test sim.grains[2].ang_pos[3] ≈ 0. |
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185 @test sim.grains[2].ang_vel[3] ≈ 0. |
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186 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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187 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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188 @test E_kin_lin_init+E_kin_rot_init ≈ E_kin_lin_final+E_kin_rot_final … |
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189 |
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190 |
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191 @info "Testing kinetic energy conservation with Three-term Taylor scheme" |
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192 sim = deepcopy(sim_init) |
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193 Granular.setTimeStep!(sim, epsilon=0.07) |
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194 tol = 0.09 |
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195 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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196 Granular.run!(sim, temporal_integration_method="Three-term Taylor", |
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197 verbose=verbose) |
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198 |
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199 @test sim.grains[1].ang_pos[3] < 0. |
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200 @test sim.grains[1].ang_vel[3] < 0. |
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201 @test sim.grains[2].ang_pos[3] ≈ 0. |
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202 @test sim.grains[2].ang_vel[3] ≈ 0. |
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203 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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204 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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205 @test E_kin_lin_init+E_kin_rot_init ≈ E_kin_lin_final+E_kin_rot_final … |
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206 |
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207 @info "# Ice floes free to move" |
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208 |
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209 sim = Granular.createSimulation(id="test") |
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210 Granular.addGrainCylindrical!(sim, [0., 10.], 10., 1., verbose=verbose) |
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211 Granular.addGrainCylindrical!(sim, [19.0, 0.], 10., 1., verbose=verbose) |
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212 sim.grains[1].lin_vel[1] = 0.1 |
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213 sim.grains[1].contact_viscosity_tangential = 1e4 |
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214 sim.grains[2].contact_viscosity_tangential = 1e4 |
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215 |
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216 E_kin_lin_init = Granular.totalGrainKineticTranslationalEnergy(sim) |
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217 E_kin_rot_init = Granular.totalGrainKineticRotationalEnergy(sim) |
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218 |
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219 # With decreasing timestep (epsilon towards 0), the explicit integration… |
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220 # should become more correct |
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221 |
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222 Granular.setTotalTime!(sim, 30.0) |
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223 sim_init = deepcopy(sim) |
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224 |
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225 @info "Testing kinetic energy conservation with Two-term Taylor scheme" |
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226 Granular.setTimeStep!(sim, epsilon=0.07) |
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227 tol = 0.1 |
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228 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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229 Granular.run!(sim, temporal_integration_method="Two-term Taylor", |
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230 verbose=verbose) |
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231 |
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232 @test sim.grains[1].ang_pos[3] < 0. |
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233 @test sim.grains[1].ang_vel[3] < 0. |
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234 @test sim.grains[2].ang_pos[3] < 0. |
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235 @test sim.grains[2].ang_vel[3] < 0. |
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236 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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237 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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238 @test E_kin_lin_init+E_kin_rot_init ≈ E_kin_lin_final+E_kin_rot_final … |
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239 |
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240 @info "Testing kinetic energy conservation with Two-term Taylor scheme" |
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241 sim = deepcopy(sim_init) |
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242 Granular.setTimeStep!(sim, epsilon=0.007) |
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243 tol = 0.04 |
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244 @info "Relative tolerance: $(tol*100.)%" |
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245 Granular.run!(sim, temporal_integration_method="Two-term Taylor", |
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246 verbose=verbose) |
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247 |
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248 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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249 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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250 @test E_kin_lin_init+E_kin_rot_init ≈ E_kin_lin_final+E_kin_rot_final … |
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251 |
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252 |
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253 @info "Testing kinetic energy conservation with Three-term Taylor scheme" |
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254 sim = deepcopy(sim_init) |
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255 Granular.setTimeStep!(sim, epsilon=0.07) |
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256 tol = 0.04 |
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257 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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258 Granular.run!(sim, temporal_integration_method="Three-term Taylor", |
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259 verbose=verbose) |
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260 |
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261 @test sim.grains[1].ang_pos[3] < 0. |
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262 @test sim.grains[1].ang_vel[3] < 0. |
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263 @test sim.grains[2].ang_pos[3] < 0. |
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264 @test sim.grains[2].ang_vel[3] < 0. |
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265 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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266 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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267 @test E_kin_lin_init+E_kin_rot_init ≈ E_kin_lin_final+E_kin_rot_final … |
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268 |
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269 |
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270 @info "# Ice floes free to move, mirrored" |
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271 |
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272 sim = Granular.createSimulation(id="test") |
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273 Granular.addGrainCylindrical!(sim, [0., 0.], 10., 1., verbose=verbose) |
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274 Granular.addGrainCylindrical!(sim, [19.0, 10.], 10., 1., verbose=verbose) |
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275 sim.grains[2].lin_vel[1] = -0.1 |
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276 sim.grains[1].contact_viscosity_tangential = 1e4 |
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277 sim.grains[2].contact_viscosity_tangential = 1e4 |
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278 |
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279 E_kin_lin_init = Granular.totalGrainKineticTranslationalEnergy(sim) |
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280 E_kin_rot_init = Granular.totalGrainKineticRotationalEnergy(sim) |
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281 |
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282 # With decreasing timestep (epsilon towards 0), the explicit integration… |
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283 # should become more correct |
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284 |
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285 Granular.setTotalTime!(sim, 30.0) |
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286 sim_init = deepcopy(sim) |
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287 |
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288 @info "Testing kinetic energy conservation with Two-term Taylor scheme" |
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289 Granular.setTimeStep!(sim, epsilon=0.07) |
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290 tol = 0.1 |
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291 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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292 Granular.run!(sim, temporal_integration_method="Two-term Taylor", |
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293 verbose=verbose) |
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294 |
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295 @test sim.grains[1].ang_pos[3] > 0. |
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296 @test sim.grains[1].ang_vel[3] > 0. |
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297 @test sim.grains[2].ang_pos[3] > 0. |
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298 @test sim.grains[2].ang_vel[3] > 0. |
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299 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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300 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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301 @test E_kin_lin_init+E_kin_rot_init ≈ E_kin_lin_final+E_kin_rot_final … |
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302 |
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303 @info "Testing kinetic energy conservation with Two-term Taylor scheme" |
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304 sim = deepcopy(sim_init) |
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305 Granular.setTimeStep!(sim, epsilon=0.007) |
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306 tol = 0.04 |
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307 @info "Relative tolerance: $(tol*100.)%" |
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308 Granular.run!(sim, temporal_integration_method="Two-term Taylor", |
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309 verbose=verbose) |
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310 |
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311 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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312 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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313 @test E_kin_lin_init+E_kin_rot_init ≈ E_kin_lin_final+E_kin_rot_final … |
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314 |
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315 |
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316 @info "Testing kinetic energy conservation with Three-term Taylor scheme" |
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317 sim = deepcopy(sim_init) |
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318 Granular.setTimeStep!(sim, epsilon=0.07) |
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319 tol = 0.04 |
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320 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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321 Granular.run!(sim, temporal_integration_method="Three-term Taylor", |
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322 verbose=verbose) |
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323 |
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324 @test sim.grains[1].ang_pos[3] > 0. |
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325 @test sim.grains[1].ang_vel[3] > 0. |
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326 @test sim.grains[2].ang_pos[3] > 0. |
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327 @test sim.grains[2].ang_vel[3] > 0. |
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328 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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329 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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330 @test E_kin_lin_init+E_kin_rot_init ≈ E_kin_lin_final+E_kin_rot_final … |
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331 |
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332 |
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333 @info "# Ice floes free to move, mirrored #2" |
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334 |
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335 sim = Granular.createSimulation(id="test") |
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336 Granular.addGrainCylindrical!(sim, [0., 0.], 10., 1., verbose=verbose) |
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337 Granular.addGrainCylindrical!(sim, [19.0, -10.], 10., 1., verbose=verbos… |
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338 sim.grains[2].lin_vel[1] = -0.1 |
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339 |
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340 E_kin_lin_init = Granular.totalGrainKineticTranslationalEnergy(sim) |
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341 E_kin_rot_init = Granular.totalGrainKineticRotationalEnergy(sim) |
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342 |
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343 # With decreasing timestep (epsilon towards 0), the explicit integration… |
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344 # should become more correct |
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345 |
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346 Granular.setTotalTime!(sim, 30.0) |
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347 sim_init = deepcopy(sim) |
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348 |
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349 @info "Testing kinetic energy conservation with Two-term Taylor scheme" |
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350 Granular.setTimeStep!(sim, epsilon=0.07) |
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351 tol = 0.1 |
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352 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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353 Granular.run!(sim, temporal_integration_method="Two-term Taylor", |
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354 verbose=verbose) |
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355 |
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356 @test sim.grains[1].ang_pos[3] < 0. |
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357 @test sim.grains[1].ang_vel[3] < 0. |
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358 @test sim.grains[2].ang_pos[3] < 0. |
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359 @test sim.grains[2].ang_vel[3] < 0. |
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360 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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361 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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362 @test E_kin_lin_init+E_kin_rot_init ≈ E_kin_lin_final+E_kin_rot_final … |
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363 |
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364 @info "Testing kinetic energy conservation with Two-term Taylor scheme" |
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365 sim = deepcopy(sim_init) |
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366 Granular.setTimeStep!(sim, epsilon=0.007) |
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367 tol = 0.04 |
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368 @info "Relative tolerance: $(tol*100.)%" |
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369 Granular.run!(sim, temporal_integration_method="Two-term Taylor", |
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370 verbose=verbose) |
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371 |
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372 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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373 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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374 @test E_kin_lin_init+E_kin_rot_init ≈ E_kin_lin_final+E_kin_rot_final … |
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375 |
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376 |
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377 @info "Testing kinetic energy conservation with Three-term Taylor scheme" |
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378 sim = deepcopy(sim_init) |
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379 Granular.setTimeStep!(sim, epsilon=0.07) |
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380 tol = 0.04 |
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381 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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382 Granular.run!(sim, temporal_integration_method="Three-term Taylor", |
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383 verbose=verbose) |
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384 |
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385 @test sim.grains[1].ang_pos[3] < 0. |
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386 @test sim.grains[1].ang_vel[3] < 0. |
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387 @test sim.grains[2].ang_pos[3] < 0. |
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388 @test sim.grains[2].ang_vel[3] < 0. |
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389 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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390 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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391 @test E_kin_lin_init+E_kin_rot_init ≈ E_kin_lin_final+E_kin_rot_final … |
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392 |
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393 |
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394 @info "# Tangential elasticity, no tangential viscosity, no Coulomb slip" |
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395 |
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396 sim = Granular.createSimulation(id="test") |
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397 Granular.addGrainCylindrical!(sim, [0., 0.], 10., 1., verbose=verbose) |
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398 Granular.addGrainCylindrical!(sim, [19.0, -10.], 10., 1., verbose=verbos… |
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399 sim.grains[2].lin_vel[1] = -0.1 |
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400 sim.grains[1].contact_dynamic_friction = 1e3 # disable Coulomb slip |
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401 sim.grains[2].contact_dynamic_friction = 1e3 # disable Coulomb slip |
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402 sim.grains[1].contact_viscosity_tangential = 0. # disable tan. viscosity |
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403 sim.grains[2].contact_viscosity_tangential = 0. # disable tan. viscosity |
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404 sim.grains[1].contact_stiffness_tangential = |
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405 sim.grains[1].contact_stiffness_normal # enable tangential elastici… |
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406 sim.grains[2].contact_stiffness_tangential = |
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407 sim.grains[2].contact_stiffness_normal # enable tangential elastici… |
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408 |
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409 E_kin_lin_init = Granular.totalGrainKineticTranslationalEnergy(sim) |
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410 E_kin_rot_init = Granular.totalGrainKineticRotationalEnergy(sim) |
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411 |
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412 # With decreasing timestep (epsilon towards 0), the explicit integration… |
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413 # should become more correct |
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414 |
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415 Granular.setTotalTime!(sim, 30.0) |
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416 sim_init = deepcopy(sim) |
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417 |
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418 @info "Testing kinetic energy conservation with Two-term Taylor scheme" |
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419 Granular.setTimeStep!(sim, epsilon=0.07) |
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420 tol = 0.1 |
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421 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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422 Granular.run!(sim, temporal_integration_method="Two-term Taylor", |
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423 verbose=verbose) |
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424 |
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425 @test sim.grains[1].ang_pos[3] < 0. |
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426 @test sim.grains[1].ang_vel[3] < 0. |
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427 @test sim.grains[2].ang_pos[3] < 0. |
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428 @test sim.grains[2].ang_vel[3] < 0. |
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429 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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430 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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431 @test E_kin_lin_init+E_kin_rot_init ≈ E_kin_lin_final+E_kin_rot_final … |
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432 |
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433 @info "Testing kinetic energy conservation with Two-term Taylor scheme" |
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434 sim = deepcopy(sim_init) |
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435 Granular.setTimeStep!(sim, epsilon=0.007) |
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436 tol = 0.04 |
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437 @info "Relative tolerance: $(tol*100.)%" |
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438 Granular.run!(sim, temporal_integration_method="Two-term Taylor", |
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439 verbose=verbose) |
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440 |
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441 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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442 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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443 @test E_kin_lin_init+E_kin_rot_init ≈ E_kin_lin_final+E_kin_rot_final … |
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444 |
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445 |
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446 @info "Testing kinetic energy conservation with Three-term Taylor scheme" |
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447 sim = deepcopy(sim_init) |
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448 Granular.setTimeStep!(sim, epsilon=0.07) |
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449 tol = 0.04 |
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450 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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451 Granular.run!(sim, temporal_integration_method="Three-term Taylor", |
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452 verbose=verbose) |
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453 |
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454 @test sim.grains[1].ang_pos[3] < 0. |
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455 @test sim.grains[1].ang_vel[3] < 0. |
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456 @test sim.grains[2].ang_pos[3] < 0. |
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457 @test sim.grains[2].ang_vel[3] < 0. |
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458 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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459 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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460 @test E_kin_lin_init+E_kin_rot_init ≈ E_kin_lin_final+E_kin_rot_final … |
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461 |
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462 |
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463 @info "# Tangential elasticity, no tangential viscosity, Coulomb slip" |
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464 |
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465 sim = Granular.createSimulation(id="test") |
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466 Granular.addGrainCylindrical!(sim, [0., 0.], 10., 1., verbose=verbose) |
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467 Granular.addGrainCylindrical!(sim, [19.0, -10.], 10., 1., verbose=verbos… |
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468 sim.grains[2].lin_vel[1] = -0.1 |
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469 sim.grains[1].contact_dynamic_friction = 0.1 # enable Coulomb slip |
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470 sim.grains[2].contact_dynamic_friction = 0.1 # enable Coulomb slip |
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471 sim.grains[1].contact_viscosity_tangential = 0. # disable tan. viscosity |
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472 sim.grains[2].contact_viscosity_tangential = 0. # disable tan. viscosity |
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473 sim.grains[1].contact_stiffness_tangential = |
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474 sim.grains[1].contact_stiffness_normal # enable tangential elastici… |
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475 sim.grains[2].contact_stiffness_tangential = |
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476 sim.grains[2].contact_stiffness_normal # enable tangential elastici… |
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477 |
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478 E_kin_lin_init = Granular.totalGrainKineticTranslationalEnergy(sim) |
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479 E_kin_rot_init = Granular.totalGrainKineticRotationalEnergy(sim) |
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480 |
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481 # With decreasing timestep (epsilon towards 0), the explicit integration… |
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482 # should become more correct |
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483 |
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484 Granular.setTotalTime!(sim, 30.0) |
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485 sim_init = deepcopy(sim) |
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486 |
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487 @info "Testing kinetic energy conservation with Two-term Taylor scheme" |
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488 sim = deepcopy(sim_init) |
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489 Granular.setTimeStep!(sim, epsilon=0.007) |
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490 tol = 0.02 |
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491 @info "Relative tolerance: $(tol*100.)%" |
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492 Granular.run!(sim, temporal_integration_method="Two-term Taylor", |
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493 verbose=verbose) |
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494 |
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495 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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496 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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497 @test E_kin_lin_init+E_kin_rot_init > E_kin_lin_final+E_kin_rot_final |
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498 |
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499 @info "Testing kinetic energy conservation with Three-term Taylor scheme" |
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500 sim = deepcopy(sim_init) |
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501 Granular.setTimeStep!(sim, epsilon=0.07) |
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502 tol = 0.03 |
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503 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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504 Granular.run!(sim, temporal_integration_method="Three-term Taylor", |
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505 verbose=verbose) |
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506 |
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507 @test sim.grains[1].ang_pos[3] < 0. |
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508 @test sim.grains[1].ang_vel[3] < 0. |
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509 @test sim.grains[2].ang_pos[3] < 0. |
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510 @test sim.grains[2].ang_vel[3] < 0. |
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511 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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512 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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513 @test E_kin_lin_init+E_kin_rot_init > E_kin_lin_final+E_kin_rot_final |
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514 |
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515 |
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516 @info "# Tangential elasticity, tangential viscosity, no Coulomb slip" |
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517 |
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518 sim = Granular.createSimulation(id="test") |
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519 Granular.addGrainCylindrical!(sim, [0., 0.], 10., 1., verbose=verbose) |
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520 Granular.addGrainCylindrical!(sim, [19.0, -10.], 10., 1., verbose=verbos… |
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521 sim.grains[2].lin_vel[1] = -0.1 |
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522 sim.grains[1].contact_dynamic_friction = 1e3 # disable Coulomb slip |
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523 sim.grains[2].contact_dynamic_friction = 1e3 # disable Coulomb slip |
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524 sim.grains[1].contact_viscosity_tangential = 1e4 # enable tan. viscosity |
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525 sim.grains[2].contact_viscosity_tangential = 1e4 # enable tan. viscosity |
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526 sim.grains[1].contact_stiffness_tangential = |
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527 sim.grains[1].contact_stiffness_normal # enable tangential elastici… |
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528 sim.grains[2].contact_stiffness_tangential = |
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529 sim.grains[2].contact_stiffness_normal # enable tangential elastici… |
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530 |
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531 E_kin_lin_init = Granular.totalGrainKineticTranslationalEnergy(sim) |
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532 E_kin_rot_init = Granular.totalGrainKineticRotationalEnergy(sim) |
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533 |
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534 # With decreasing timestep (epsilon towards 0), the explicit integration… |
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535 # should become more correct |
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536 |
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537 Granular.setTotalTime!(sim, 30.0) |
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538 sim_init = deepcopy(sim) |
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539 |
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540 @info "Testing kinetic energy conservation with Two-term Taylor scheme" |
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541 sim = deepcopy(sim_init) |
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542 Granular.setTimeStep!(sim, epsilon=0.007) |
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543 tol = 0.02 |
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544 @info "Relative tolerance: $(tol*100.)%" |
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545 Granular.run!(sim, temporal_integration_method="Two-term Taylor", |
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546 verbose=verbose) |
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547 |
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548 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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549 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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550 @test E_kin_lin_init+E_kin_rot_init > E_kin_lin_final+E_kin_rot_final |
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551 |
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552 @info "Testing kinetic energy conservation with Three-term Taylor scheme" |
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553 sim = deepcopy(sim_init) |
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554 Granular.setTimeStep!(sim, epsilon=0.07) |
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555 tol = 0.03 |
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556 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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557 Granular.run!(sim, temporal_integration_method="Three-term Taylor", |
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558 verbose=verbose) |
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559 |
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560 @test sim.grains[1].ang_pos[3] < 0. |
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561 @test sim.grains[1].ang_vel[3] < 0. |
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562 @test sim.grains[2].ang_pos[3] < 0. |
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563 @test sim.grains[2].ang_vel[3] < 0. |
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564 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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565 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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566 @test E_kin_lin_init+E_kin_rot_init > E_kin_lin_final+E_kin_rot_final |
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567 |
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568 |
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569 @info "# Tangential elasticity, tangential viscosity, Coulomb slip" |
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570 |
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571 sim = Granular.createSimulation(id="test") |
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572 Granular.addGrainCylindrical!(sim, [0., 0.], 10., 1., verbose=verbose) |
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573 Granular.addGrainCylindrical!(sim, [19.0, -10.], 10., 1., verbose=verbos… |
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574 sim.grains[2].lin_vel[1] = -0.1 |
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575 sim.grains[1].contact_dynamic_friction = 0.1 # enable Coulomb slip |
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576 sim.grains[2].contact_dynamic_friction = 0.1 # enable Coulomb slip |
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577 sim.grains[1].contact_viscosity_tangential = 1e4 # enable tan. viscosity |
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578 sim.grains[2].contact_viscosity_tangential = 1e4 # enable tan. viscosity |
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579 sim.grains[1].contact_stiffness_tangential = |
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580 sim.grains[1].contact_stiffness_normal # enable tangential elastici… |
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581 sim.grains[2].contact_stiffness_tangential = |
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582 sim.grains[2].contact_stiffness_normal # enable tangential elastici… |
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583 |
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584 E_kin_lin_init = Granular.totalGrainKineticTranslationalEnergy(sim) |
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585 E_kin_rot_init = Granular.totalGrainKineticRotationalEnergy(sim) |
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586 |
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587 # With decreasing timestep (epsilon towards 0), the explicit integration… |
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588 # should become more correct |
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589 |
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590 Granular.setTotalTime!(sim, 30.0) |
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591 sim_init = deepcopy(sim) |
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592 |
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593 @info "Testing kinetic energy conservation with Two-term Taylor scheme" |
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594 sim = deepcopy(sim_init) |
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595 Granular.setTimeStep!(sim, epsilon=0.007) |
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596 tol = 0.02 |
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597 @info "Relative tolerance: $(tol*100.)%" |
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598 Granular.run!(sim, temporal_integration_method="Two-term Taylor", |
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599 verbose=verbose) |
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600 |
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601 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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602 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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603 @test E_kin_lin_init+E_kin_rot_init > E_kin_lin_final+E_kin_rot_final |
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604 |
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605 @info "Testing kinetic energy conservation with Three-term Taylor scheme" |
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606 sim = deepcopy(sim_init) |
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607 Granular.setTimeStep!(sim, epsilon=0.07) |
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608 tol = 0.03 |
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609 @info "Relative tolerance: $(tol*100.)% with time step: $(sim.time_step)" |
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610 Granular.run!(sim, temporal_integration_method="Three-term Taylor", |
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611 verbose=verbose) |
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612 |
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613 @test sim.grains[1].ang_pos[3] < 0. |
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614 @test sim.grains[1].ang_vel[3] < 0. |
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615 @test sim.grains[2].ang_pos[3] < 0. |
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616 @test sim.grains[2].ang_vel[3] < 0. |
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617 E_kin_lin_final = Granular.totalGrainKineticTranslationalEnergy(sim) |
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618 E_kin_rot_final = Granular.totalGrainKineticRotationalEnergy(sim) |
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619 @test E_kin_lin_init+E_kin_rot_init > E_kin_lin_final+E_kin_rot_final |
