diff --git a/tests/dem/full_contact_functions.h b/tests/dem/full_contact_functions.h new file mode 100644 index 0000000000..072a57256b --- /dev/null +++ b/tests/dem/full_contact_functions.h @@ -0,0 +1,338 @@ +// SPDX-FileCopyrightText: Copyright (c) 2025 The Lethe Authors +// SPDX-License-Identifier: Apache-2.0 WITH LLVM-exception OR LGPL-2.1-or-later + + +#ifndef full_contact_functions_h +#define full_contact_functions_h + +#include <../tests/dem/test_particles_functions.h> +#include +#include + +#include +#include +#include + +/** + * @brief Store the initial properties of both particles. + */ +template +struct initial_particle_properties +{ + Point position[2]; + int id[2]; + int type[2]; + Tensor<1, dim> velocity[2]; + Tensor<1, dim> omega[2]; + double mass[2]; + double diameter[2]; +}; + +/** + * @brief Store the output vectors of the time, the force and torque acting on particle 0, + * the normal overlap, the tangential overlap and the velocities and angular + * velocities for both particles. + */ +struct full_contact_output +{ + std::vector time; + std::vector> force; + std::vector> torque; + std::vector normal_overlap; + std::vector> tangential_overlap; + std::vector> velocity_0; + std::vector> velocity_1; + std::vector> omega_0; + std::vector> omega_1; +}; + + +/** + * @brief Set the force and torque to 0 for each particle. + * + * @tparam dim Integer that denotes the number of spatial dimensions. + * @param particle_handler Storage of particles and their accessor functions. + * @param torque Vector of torques acting on each particle. + * @param force Vector of forces acting on each particle. + */ +template +void +reinitialize_force(Particles::ParticleHandler &particle_handler, + std::vector> &torque, + std::vector> &force) +{ + for (auto particle = particle_handler.begin(); + particle != particle_handler.end(); + ++particle) + { + // Getting id of particle as local variable + unsigned int particle_id = particle->get_id(); + + // Reinitializing forces and torques of particles in the system + force[particle_id][0] = 0; + force[particle_id][1] = 0; + force[particle_id][2] = 0; + + torque[particle_id][0] = 0; + torque[particle_id][1] = 0; + torque[particle_id][2] = 0; + } +} + +/** + * @brief Update the velocity tensors with the values from the PropertiesIndex. + * + * @tparam PropertiesIndex Index of the properties used within the ParticleHandler. + * @param particle_0_properties Properties of particle 0. + * @param particle_1_properties Properties of particle 1. + * @param velocity_0, velocity_1, omega_0, omega_1 Velocities of particles 0 and 1. + * + */ +template +void +update_velocities(const ArrayView &particle_0_properties, + const ArrayView &particle_1_properties, + Tensor<1, 3> &velocity_0, + Tensor<1, 3> &velocity_1, + Tensor<1, 3> &omega_0, + Tensor<1, 3> &omega_1) +{ + velocity_0[0] = particle_0_properties[PropertiesIndex::v_x]; + velocity_0[1] = particle_0_properties[PropertiesIndex::v_y]; + velocity_0[2] = particle_0_properties[PropertiesIndex::v_z]; + velocity_1[0] = particle_1_properties[PropertiesIndex::v_x]; + velocity_1[1] = particle_1_properties[PropertiesIndex::v_y]; + velocity_1[2] = particle_1_properties[PropertiesIndex::v_z]; + omega_0[0] = particle_0_properties[PropertiesIndex::omega_x]; + omega_0[1] = particle_0_properties[PropertiesIndex::omega_y]; + omega_0[2] = particle_0_properties[PropertiesIndex::omega_z]; + omega_1[0] = particle_1_properties[PropertiesIndex::omega_x]; + omega_1[1] = particle_1_properties[PropertiesIndex::omega_y]; + omega_1[2] = particle_1_properties[PropertiesIndex::omega_z]; +} + +using namespace Parameters::Lagrangian; + +/** + * @brief Simulate the full contact between two particles with chosen force model. + * + * @tparam dim Integer that denotes the number of spatial dimensions. + * @tparam PropertiesIndex Index of the properties used within the ParticleHandler. + * @tparam contact_model Model for the contact force. + * @tparam rolling_friction_model Rolling resistance model. + * @param triangulation Triangulation to access the information of the cells. + * @param particle_handler Storage of particles and their accessor functions. + * @param contact_manager Manages the contact between particles. + * @param dem_parameters DEM parameters declared. + * @param p Initial properties of particles. + * @param g A constant volumetric body force applied to all particles + * @param dt Time Step. + * @param output_frequency Interval of iterations at which data is written on file and stored for output. + * @param neighborhood_threshold Threshold value of contact detection. + * @param cut_off_factor Factor to allow for contact forces even when particles are not in contact. + * @param filename Name of file where force and overlap are written. + * + * @return Struct of vectors of time, force and torque acting on particle 0, normal overlap, + * tangential overlap, velocities, angular velocities. + */ +template +full_contact_output +simulate_full_contact(parallel::distributed::Triangulation &triangulation, + Particles::ParticleHandler &particle_handler, + DEMContactManager &contact_manager, + DEMSolverParameters &dem_parameters, + initial_particle_properties &p, + const Tensor<1, 3> &g, + const double dt, + const unsigned int output_frequency, + const double neighborhood_threshold, + const double cut_off_factor, + const std::string filename) + +{ + // Clearing particle handler + particle_handler.clear_particles(); + + // Struct for output + full_contact_output output; + + // Constructing particle iterators from particle positions (inserting + // particles) + Particles::ParticleIterator pit_0 = construct_particle_iterator( + particle_handler, triangulation, p.position[0], p.id[0]); + Particles::ParticleIterator pit_1 = construct_particle_iterator( + particle_handler, triangulation, p.position[1], p.id[1]); + + // Setting particle properties + set_particle_properties( + pit_0, p.type[0], p.diameter[0], p.mass[0], p.velocity[0], p.omega[0]); + set_particle_properties( + pit_1, p.type[1], p.diameter[1], p.mass[1], p.velocity[1], p.omega[1]); + + std::vector> torque; + std::vector> force; + std::vector MOI; + particle_handler.sort_particles_into_subdomains_and_cells(); + force.resize(particle_handler.get_max_local_particle_index()); + torque.resize(force.size()); + MOI.resize(force.size()); + for (auto &moi_val : MOI) + moi_val = 1; + + // Force and integrator objects + VelocityVerletIntegrator integrator_object; + ParticleParticleContactForce + force_object(dem_parameters); + + // Defining local variables + auto particle_0 = particle_handler.begin(); + auto particle_1 = std::next(particle_0); + bool contact_is_ongoing = true; + double time = 0; + const unsigned int max_iteration = 10000; + double normal_overlap = -1; + double distance; + Point<3> &position_0 = particle_0->get_location(); + Point<3> &position_1 = particle_1->get_location(); + Tensor<1, 3> &force_0 = force[particle_0->get_id()]; + Tensor<1, 3> &torque_0 = torque[particle_0->get_id()]; + Tensor<1, 3> tangential_overlap{{0, 0, 0}}; + Tensor<1, 3> velocity_0; + Tensor<1, 3> velocity_1; + Tensor<1, 3> omega_0; + Tensor<1, 3> omega_1; + Tensor<1, 3> normal_unit_vector; + Tensor<1, 3> relative_velocity; + Tensor<1, 3> tangential_relative_velocity; + const double force_calculation_threshold_distance = + cut_off_factor * 0.5 * (p.diameter[0] + p.diameter[1]); + + // Open file and write names of columns + std::ofstream file(filename + ".dat", std::ios::binary); + file + << "time force_0_x force_0_y force_0_z torque_0_x torque_0_y torque_0_z normal_overlap tangential_overlap_x tangential_overlap_y tangential_overlap_z velocity_0_x velocity_0_y velocity_0_z velocity_1_x velocity_1_y velocity_1_z omega_0_x omega_0_y omega_0_z omega_1_x omega_1_y omega_1_z" + << "\n"; + + for (unsigned int iteration = 0; iteration < max_iteration; ++iteration) + { + // Reinitializing forces + reinitialize_force(particle_handler, torque, force); + + contact_manager.update_local_particles_in_cells(particle_handler); + + // Dummy Adaptive sparse contacts object and particle-particle broad + // search + AdaptiveSparseContacts + dummy_adaptive_sparse_contacts; + contact_manager.execute_particle_particle_broad_search( + particle_handler, dummy_adaptive_sparse_contacts); + + // Calling fine search + contact_manager.execute_particle_particle_fine_search( + neighborhood_threshold); + + // Calling force calculation + force_object.calculate_particle_particle_contact_force( + contact_manager.get_local_adjacent_particles(), + contact_manager.get_ghost_adjacent_particles(), + contact_manager.get_local_local_periodic_adjacent_particles(), + contact_manager.get_local_ghost_periodic_adjacent_particles(), + contact_manager.get_ghost_local_periodic_adjacent_particles(), + dt, + torque, + force); + + distance = position_0.distance(position_1); + + // Checking if contact is still ongoing (overlap superior to force + // calculation threshold) + if (normal_overlap > force_calculation_threshold_distance && + (0.5 * (p.diameter[0] + p.diameter[1]) - distance) <= + force_calculation_threshold_distance) + { + contact_is_ongoing = false; + } + + // Calculating overlap and tangential overlap + update_velocities(particle_0->get_properties(), + particle_1->get_properties(), + velocity_0, + velocity_1, + omega_0, + omega_1); + normal_overlap = 0.5 * (p.diameter[0] + p.diameter[1]) - distance; + normal_unit_vector = (position_1 - position_0) / distance; + relative_velocity = velocity_0 - velocity_1 + + (cross_product_3d(0.5 * (p.diameter[0] * omega_0 + + p.diameter[1] * omega_1), + normal_unit_vector)); + tangential_relative_velocity = + relative_velocity - + ((relative_velocity * normal_unit_vector) * normal_unit_vector); + tangential_overlap += tangential_relative_velocity * dt; + + // Printing on file and storing data at each output interval + // and at the first iteration after end of contact + if (iteration % output_frequency == 0 || !contact_is_ongoing) + { + file << time << " " << force_0[0] << " " << force_0[1] << " " + << force_0[2] << " " << torque_0[0] << " " << torque_0[1] << " " + << torque_0[2] << " " << normal_overlap << " " + << tangential_overlap[0] << " " << tangential_overlap[1] << " " + << tangential_overlap[2] << " " << velocity_0[0] << " " + << velocity_0[1] << " " << velocity_0[2] << " " << velocity_1[0] + << " " << velocity_1[1] << " " << velocity_1[2] << " " + << omega_0[0] << " " << omega_0[1] << " " << omega_0[2] << " " + << omega_1[0] << " " << omega_1[1] << " " << omega_1[2] << "\n"; + + output.time.push_back(time); + output.force.push_back(force_0); + output.torque.push_back(torque_0); + output.normal_overlap.push_back(normal_overlap); + output.tangential_overlap.push_back(tangential_overlap); + output.velocity_0.push_back(velocity_0); + output.velocity_1.push_back(velocity_1); + output.omega_0.push_back(omega_0); + output.omega_1.push_back(omega_1); + } + + // Return output before integration if contact is done + if (not contact_is_ongoing) + { + file.close(); + return output; + } + + // Integration + integrator_object.integrate(particle_handler, g, dt, torque, force, MOI); + + // Update contacts + contact_manager.update_contacts(); + + time += dt; + } + + // Return empty output if contact does not start or end after + // max_iteration iterations. + if (normal_overlap > force_calculation_threshold_distance) + { + std::cout << "Error. Contact not ending after "; + } + else + { + std::cout << "Error. No contact found after "; + } + + std::cout << max_iteration << " iterations." << std::endl; + file.close(); + return full_contact_output{}; +} + + +#endif // full_contact_functions_h diff --git a/tests/dem/particle_particle_full_contact.cc b/tests/dem/particle_particle_full_contact.cc new file mode 100644 index 0000000000..a1fd049a16 --- /dev/null +++ b/tests/dem/particle_particle_full_contact.cc @@ -0,0 +1,193 @@ +// SPDX-FileCopyrightText: Copyright (c) 2025 The Lethe Authors +// SPDX-License-Identifier: Apache-2.0 WITH LLVM-exception OR LGPL-2.1-or-later + + +#include <../tests/dem/full_contact_functions.h> + + +/** + * @brief Write time, force, torque and overlap on the log for the full duration of contact. + * @param output Output of function simulate_full_contact. + */ +void +log_contact_output(full_contact_output &output) +{ + if (output.time.empty()) + { + deallog << "Error. Contact not found or not ending (too many iterations)." + << std::endl; + return; + } + const unsigned int time_size = output.time.size(); + for (unsigned int i = 0; i < time_size; ++i) + { + deallog << "At time " << std::setw(15) << output.time[i] + << std::defaultfloat << " force is " << std::setw(10) + << output.force[i][0] << " " << std::setw(10) + << output.force[i][1] << " " << std::setw(10) + << output.force[i][2] << " torque is " << std::setw(10) + << output.torque[i][0] << " " << std::setw(10) + << output.torque[i][1] << " " << std::setw(10) + << output.torque[i][2] << " overlap is " << std::setw(10) + << output.normal_overlap[i] << std::endl; + } +} + + +template +void +test() +{ + // Creating the mesh and refinement + parallel::distributed::Triangulation triangulation(MPI_COMM_WORLD); + const int hyper_cube_length = 1; + GridGenerator::hyper_cube(triangulation, + -1 * hyper_cube_length, + hyper_cube_length, + true); + const int refinement_number = 2; + triangulation.refine_global(refinement_number); + MappingQ mapping(1); + + + // Defining general simulation parameters + DEMSolverParameters dem_parameters; + Parameters::Lagrangian::LagrangianPhysicalProperties &lagrangian_prop = + dem_parameters.lagrangian_physical_properties; + Parameters::Lagrangian::ModelParameters &model_param = + dem_parameters.model_parameters; + + Tensor<1, dim> g{{0, 0, 0}}; + const double dt = 0.00001; + const double particle_diameter = 0.005; + const unsigned int output_frequency = 10; + lagrangian_prop.particle_type_number = 1; + lagrangian_prop.youngs_modulus_particle[0] = 50000000; + lagrangian_prop.poisson_ratio_particle[0] = 0.3; + lagrangian_prop.restitution_coefficient_particle[0] = 0.5; + lagrangian_prop.friction_coefficient_particle[0] = 0.5; + lagrangian_prop.rolling_viscous_damping_coefficient_particle[0] = 0.5; + lagrangian_prop.rolling_friction_coefficient_particle[0] = 0.1; + lagrangian_prop.surface_energy_particle[0] = 0.; + lagrangian_prop.hamaker_constant_particle[0] = 0.; + lagrangian_prop.density_particle[0] = 2500; + model_param.rolling_resistance_method = + RollingResistanceMethod::constant_resistance; + + const double neighborhood_threshold = std::pow(1.3 * particle_diameter, 2); + + // Defining particle handler + Particles::ParticleHandler particle_handler( + triangulation, mapping, PropertiesIndex::n_properties); + + // Creating containers manager + DEMContactManager contact_manager; + + // Finding cell neighbors list + typename dem_data_structures::periodic_boundaries_cells_info + dummy_pbc_info; + contact_manager.execute_cell_neighbors_search(triangulation, dummy_pbc_info); + + // Setting initial properties of particle 0 and 1 + Point position_0 = {0.4, 0, 0}; + Point position_1 = {0.405, 0, 0}; + Tensor<1, dim> velocity_0{{0.01, 0, 0}}; + Tensor<1, dim> omega_0{{0, 0, 0}}; + Tensor<1, dim> velocity_1{{0, 0, 0}}; + Tensor<1, dim> omega_1{{0, 0, 0}}; + initial_particle_properties particle_properties = { + {position_0, position_1}, // initial positions + {0, 1}, // ids + {0, 0}, // types + {velocity_0, velocity_1}, // initial velocities + {omega_0, omega_1}, // initial angular velocities + {1, 1}, // masses + {particle_diameter, particle_diameter} // diameters + }; + + + // linear contact force model + + deallog << "For the linear contact force model." << std::endl; + + full_contact_output linear_output = + simulate_full_contact( + triangulation, + particle_handler, + contact_manager, + dem_parameters, + particle_properties, + g, + dt, + output_frequency, + neighborhood_threshold, + 0, // cut_off_factor to allow contact forces without contact + "linear"); + + log_contact_output(linear_output); + + + // hertz_mindlin_limit_overlap contact force model + + deallog << " " << std::endl + << "For the hertz_mindlin_limit_overlap contact force model." + << std::endl; + + full_contact_output hmlo_output = simulate_full_contact< + dim, + PropertiesIndex, + ParticleParticleContactForceModel::hertz_mindlin_limit_overlap, + RollingResistanceMethod::constant_resistance>(triangulation, + particle_handler, + contact_manager, + dem_parameters, + particle_properties, + g, + dt, + output_frequency, + neighborhood_threshold, + 0, + "hmlo"); + + log_contact_output(hmlo_output); +} + +int +main(int argc, char **argv) +{ + try + { + Utilities::MPI::MPI_InitFinalize mpi_initialization(argc, argv, 1); + initlog(); + test<3, DEM::DEMProperties::PropertiesIndex>(); + } + catch (std::exception &exc) + { + std::cerr << std::endl + << std::endl + << "----------------------------------------------------" + << std::endl; + std::cerr << "Exception on processing: " << std::endl + << exc.what() << std::endl + << "Aborting!" << std::endl + << "----------------------------------------------------" + << std::endl; + return 1; + } + catch (...) + { + std::cerr << std::endl + << std::endl + << "----------------------------------------------------" + << std::endl; + std::cerr << "Unknown exception!" << std::endl + << "Aborting!" << std::endl + << "----------------------------------------------------" + << std::endl; + return 1; + } + return 0; +} diff --git a/tests/dem/particle_particle_full_contact.output b/tests/dem/particle_particle_full_contact.output new file mode 100644 index 0000000000..eb1b8d404e --- /dev/null +++ b/tests/dem/particle_particle_full_contact.output @@ -0,0 +1,343 @@ + +DEAL::For the linear contact force model. +DEAL::At time 0.00000 force is 0.00000 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is -4.33681e-18 +DEAL::At time 0.000100000 force is -0.770689 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 9.93321e-07 +DEAL::At time 0.000200000 force is -0.814497 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.97123e-06 +DEAL::At time 0.000300000 force is -0.856761 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.93285e-06 +DEAL::At time 0.000400000 force is -0.897454 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.87734e-06 +DEAL::At time 0.000500000 force is -0.936554 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.80389e-06 +DEAL::At time 0.000600000 force is -0.974040 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.71170e-06 +DEAL::At time 0.000700000 force is -1.00989 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 6.60004e-06 +DEAL::At time 0.000800000 force is -1.04410 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 7.46818e-06 +DEAL::At time 0.000900000 force is -1.07663 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 8.31544e-06 +DEAL::At time 0.00100000 force is -1.10750 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 9.14117e-06 +DEAL::At time 0.00110000 force is -1.13667 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 9.94476e-06 +DEAL::At time 0.00120000 force is -1.16415 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.07256e-05 +DEAL::At time 0.00130000 force is -1.18992 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.14832e-05 +DEAL::At time 0.00140000 force is -1.21399 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.22170e-05 +DEAL::At time 0.00150000 force is -1.23635 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.29265e-05 +DEAL::At time 0.00160000 force is -1.25700 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.36112e-05 +DEAL::At time 0.00170000 force is -1.27594 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.42709e-05 +DEAL::At time 0.00180000 force is -1.29317 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.49050e-05 +DEAL::At time 0.00190000 force is -1.30871 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.55133e-05 +DEAL::At time 0.00200000 force is -1.32255 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.60954e-05 +DEAL::At time 0.00210000 force is -1.33471 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.66510e-05 +DEAL::At time 0.00220000 force is -1.34520 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.71800e-05 +DEAL::At time 0.00230000 force is -1.35402 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.76820e-05 +DEAL::At time 0.00240000 force is -1.36120 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.81570e-05 +DEAL::At time 0.00250000 force is -1.36674 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.86047e-05 +DEAL::At time 0.00260000 force is -1.37067 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.90252e-05 +DEAL::At time 0.00270000 force is -1.37301 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.94182e-05 +DEAL::At time 0.00280000 force is -1.37377 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.97837e-05 +DEAL::At time 0.00290000 force is -1.37297 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.01218e-05 +DEAL::At time 0.00300000 force is -1.37065 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.04324e-05 +DEAL::At time 0.00310000 force is -1.36682 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.07156e-05 +DEAL::At time 0.00320000 force is -1.36151 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.09715e-05 +DEAL::At time 0.00330000 force is -1.35475 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.12002e-05 +DEAL::At time 0.00340000 force is -1.34657 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.14017e-05 +DEAL::At time 0.00350000 force is -1.33699 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.15764e-05 +DEAL::At time 0.00360000 force is -1.32605 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.17242e-05 +DEAL::At time 0.00370000 force is -1.31378 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.18456e-05 +DEAL::At time 0.00380000 force is -1.30021 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.19407e-05 +DEAL::At time 0.00390000 force is -1.28537 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.20098e-05 +DEAL::At time 0.00400000 force is -1.26931 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.20532e-05 +DEAL::At time 0.00410000 force is -1.25205 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.20712e-05 +DEAL::At time 0.00420000 force is -1.23363 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.20642e-05 +DEAL::At time 0.00430000 force is -1.21410 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.20325e-05 +DEAL::At time 0.00440000 force is -1.19348 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.19765e-05 +DEAL::At time 0.00450000 force is -1.17182 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.18966e-05 +DEAL::At time 0.00460000 force is -1.14915 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.17934e-05 +DEAL::At time 0.00470000 force is -1.12552 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.16671e-05 +DEAL::At time 0.00480000 force is -1.10097 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.15183e-05 +DEAL::At time 0.00490000 force is -1.07553 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.13475e-05 +DEAL::At time 0.00500000 force is -1.04926 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.11552e-05 +DEAL::At time 0.00510000 force is -1.02218 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.09419e-05 +DEAL::At time 0.00520000 force is -0.994346 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.07082e-05 +DEAL::At time 0.00530000 force is -0.965796 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.04546e-05 +DEAL::At time 0.00540000 force is -0.936572 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.01817e-05 +DEAL::At time 0.00550000 force is -0.906717 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.98900e-05 +DEAL::At time 0.00560000 force is -0.876274 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.95802e-05 +DEAL::At time 0.00570000 force is -0.845285 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.92529e-05 +DEAL::At time 0.00580000 force is -0.813793 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.89087e-05 +DEAL::At time 0.00590000 force is -0.781841 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.85482e-05 +DEAL::At time 0.00600000 force is -0.749471 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.81720e-05 +DEAL::At time 0.00610000 force is -0.716725 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.77809e-05 +DEAL::At time 0.00620000 force is -0.683646 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.73754e-05 +DEAL::At time 0.00630000 force is -0.650275 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.69563e-05 +DEAL::At time 0.00640000 force is -0.616655 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.65242e-05 +DEAL::At time 0.00650000 force is -0.582826 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.60797e-05 +DEAL::At time 0.00660000 force is -0.548830 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.56236e-05 +DEAL::At time 0.00670000 force is -0.514706 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.51565e-05 +DEAL::At time 0.00680000 force is -0.480496 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.46791e-05 +DEAL::At time 0.00690000 force is -0.446239 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.41921e-05 +DEAL::At time 0.00700000 force is -0.411974 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.36962e-05 +DEAL::At time 0.00710000 force is -0.377739 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.31920e-05 +DEAL::At time 0.00720000 force is -0.343574 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.26803e-05 +DEAL::At time 0.00730000 force is -0.309514 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.21617e-05 +DEAL::At time 0.00740000 force is -0.275596 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.16369e-05 +DEAL::At time 0.00750000 force is -0.241858 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.11066e-05 +DEAL::At time 0.00760000 force is -0.208333 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.05715e-05 +DEAL::At time 0.00770000 force is -0.175058 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.00322e-05 +DEAL::At time 0.00780000 force is -0.142064 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 9.48935e-06 +DEAL::At time 0.00790000 force is -0.109386 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 8.94370e-06 +DEAL::At time 0.00800000 force is -0.0770553 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 8.39587e-06 +DEAL::At time 0.00810000 force is -0.0451034 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 7.84649e-06 +DEAL::At time 0.00820000 force is -0.0135608 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 7.29621e-06 +DEAL::At time 0.00830000 force is 0.0175469 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 6.74566e-06 +DEAL::At time 0.00840000 force is 0.0481995 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 6.19544e-06 +DEAL::At time 0.00850000 force is 0.0784228 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.64609e-06 +DEAL::At time 0.00860000 force is 0.108048 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.09829e-06 +DEAL::At time 0.00870000 force is 0.137218 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.55259e-06 +DEAL::At time 0.00880000 force is 0.165729 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.00957e-06 +DEAL::At time 0.00890000 force is 0.193913 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.46970e-06 +DEAL::At time 0.00900000 force is 0.221225 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.93351e-06 +DEAL::At time 0.00910000 force is 0.247895 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.40174e-06 +DEAL::At time 0.00920000 force is 0.273903 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.87493e-06 +DEAL::At time 0.00930000 force is 0.299441 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.35335e-06 +DEAL::At time 0.00940000 force is 0.324313 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 8.37662e-07 +DEAL::At time 0.00950000 force is 0.348750 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.27902e-07 +DEAL::At time 0.00957000 force is 0.00000 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is -2.51427e-08 +DEAL:: +DEAL::For the hertz_mindlin_limit_overlap contact force model. +DEAL::At time 0.00000 force is 0.00000 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is -4.33681e-18 +DEAL::At time 0.000100000 force is -0.123639 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 9.99171e-07 +DEAL::At time 0.000200000 force is -0.148705 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.99592e-06 +DEAL::At time 0.000300000 force is -0.166660 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.98970e-06 +DEAL::At time 0.000400000 force is -0.181511 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.98015e-06 +DEAL::At time 0.000500000 force is -0.194625 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.96698e-06 +DEAL::At time 0.000600000 force is -0.206644 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.94991e-06 +DEAL::At time 0.000700000 force is -0.217915 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 6.92872e-06 +DEAL::At time 0.000800000 force is -0.228651 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 7.90316e-06 +DEAL::At time 0.000900000 force is -0.238988 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 8.87304e-06 +DEAL::At time 0.00100000 force is -0.249019 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 9.83813e-06 +DEAL::At time 0.00110000 force is -0.258807 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.07982e-05 +DEAL::At time 0.00120000 force is -0.268398 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.17532e-05 +DEAL::At time 0.00130000 force is -0.277827 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.27028e-05 +DEAL::At time 0.00140000 force is -0.287117 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.36468e-05 +DEAL::At time 0.00150000 force is -0.296287 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.45850e-05 +DEAL::At time 0.00160000 force is -0.305351 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.55174e-05 +DEAL::At time 0.00170000 force is -0.314318 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.64436e-05 +DEAL::At time 0.00180000 force is -0.323196 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.73636e-05 +DEAL::At time 0.00190000 force is -0.331989 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.82771e-05 +DEAL::At time 0.00200000 force is -0.340700 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 1.91839e-05 +DEAL::At time 0.00210000 force is -0.349332 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.00840e-05 +DEAL::At time 0.00220000 force is -0.357884 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.09770e-05 +DEAL::At time 0.00230000 force is -0.366358 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.18629e-05 +DEAL::At time 0.00240000 force is -0.374751 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.27415e-05 +DEAL::At time 0.00250000 force is -0.383064 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.36125e-05 +DEAL::At time 0.00260000 force is -0.391293 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.44759e-05 +DEAL::At time 0.00270000 force is -0.399438 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.53315e-05 +DEAL::At time 0.00280000 force is -0.407494 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.61791e-05 +DEAL::At time 0.00290000 force is -0.415460 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.70186e-05 +DEAL::At time 0.00300000 force is -0.423332 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.78497e-05 +DEAL::At time 0.00310000 force is -0.431108 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.86724e-05 +DEAL::At time 0.00320000 force is -0.438784 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 2.94864e-05 +DEAL::At time 0.00330000 force is -0.446357 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.02917e-05 +DEAL::At time 0.00340000 force is -0.453823 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.10880e-05 +DEAL::At time 0.00350000 force is -0.461178 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.18753e-05 +DEAL::At time 0.00360000 force is -0.468421 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.26534e-05 +DEAL::At time 0.00370000 force is -0.475546 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.34220e-05 +DEAL::At time 0.00380000 force is -0.482551 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.41812e-05 +DEAL::At time 0.00390000 force is -0.489431 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.49307e-05 +DEAL::At time 0.00400000 force is -0.496184 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.56704e-05 +DEAL::At time 0.00410000 force is -0.502807 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.64003e-05 +DEAL::At time 0.00420000 force is -0.509295 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.71200e-05 +DEAL::At time 0.00430000 force is -0.515645 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.78296e-05 +DEAL::At time 0.00440000 force is -0.521855 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.85288e-05 +DEAL::At time 0.00450000 force is -0.527920 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.92176e-05 +DEAL::At time 0.00460000 force is -0.533839 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 3.98959e-05 +DEAL::At time 0.00470000 force is -0.539607 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.05635e-05 +DEAL::At time 0.00480000 force is -0.545223 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.12202e-05 +DEAL::At time 0.00490000 force is -0.550682 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.18661e-05 +DEAL::At time 0.00500000 force is -0.555983 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.25010e-05 +DEAL::At time 0.00510000 force is -0.561123 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.31247e-05 +DEAL::At time 0.00520000 force is -0.566099 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.37373e-05 +DEAL::At time 0.00530000 force is -0.570908 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.43385e-05 +DEAL::At time 0.00540000 force is -0.575549 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.49283e-05 +DEAL::At time 0.00550000 force is -0.580019 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.55065e-05 +DEAL::At time 0.00560000 force is -0.584316 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.60732e-05 +DEAL::At time 0.00570000 force is -0.588437 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.66282e-05 +DEAL::At time 0.00580000 force is -0.592382 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.71714e-05 +DEAL::At time 0.00590000 force is -0.596148 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.77028e-05 +DEAL::At time 0.00600000 force is -0.599734 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.82223e-05 +DEAL::At time 0.00610000 force is -0.603137 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.87297e-05 +DEAL::At time 0.00620000 force is -0.606357 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.92251e-05 +DEAL::At time 0.00630000 force is -0.609392 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 4.97084e-05 +DEAL::At time 0.00640000 force is -0.612241 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.01795e-05 +DEAL::At time 0.00650000 force is -0.614903 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.06383e-05 +DEAL::At time 0.00660000 force is -0.617377 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.10848e-05 +DEAL::At time 0.00670000 force is -0.619663 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.15190e-05 +DEAL::At time 0.00680000 force is -0.621758 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.19408e-05 +DEAL::At time 0.00690000 force is -0.623663 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.23502e-05 +DEAL::At time 0.00700000 force is -0.625378 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.27471e-05 +DEAL::At time 0.00710000 force is -0.626901 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.31315e-05 +DEAL::At time 0.00720000 force is -0.628233 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.35033e-05 +DEAL::At time 0.00730000 force is -0.629373 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.38626e-05 +DEAL::At time 0.00740000 force is -0.630322 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.42093e-05 +DEAL::At time 0.00750000 force is -0.631080 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.45434e-05 +DEAL::At time 0.00760000 force is -0.631647 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.48649e-05 +DEAL::At time 0.00770000 force is -0.632023 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.51737e-05 +DEAL::At time 0.00780000 force is -0.632208 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.54699e-05 +DEAL::At time 0.00790000 force is -0.632204 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.57534e-05 +DEAL::At time 0.00800000 force is -0.632011 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.60243e-05 +DEAL::At time 0.00810000 force is -0.631629 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.62826e-05 +DEAL::At time 0.00820000 force is -0.631061 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.65282e-05 +DEAL::At time 0.00830000 force is -0.630306 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.67613e-05 +DEAL::At time 0.00840000 force is -0.629365 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.69817e-05 +DEAL::At time 0.00850000 force is -0.628241 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.71895e-05 +DEAL::At time 0.00860000 force is -0.626935 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.73847e-05 +DEAL::At time 0.00870000 force is -0.625447 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.75675e-05 +DEAL::At time 0.00880000 force is -0.623779 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.77377e-05 +DEAL::At time 0.00890000 force is -0.621934 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.78954e-05 +DEAL::At time 0.00900000 force is -0.619912 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.80407e-05 +DEAL::At time 0.00910000 force is -0.617716 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.81736e-05 +DEAL::At time 0.00920000 force is -0.615347 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.82941e-05 +DEAL::At time 0.00930000 force is -0.612808 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.84024e-05 +DEAL::At time 0.00940000 force is -0.610101 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.84984e-05 +DEAL::At time 0.00950000 force is -0.607228 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.85821e-05 +DEAL::At time 0.00960000 force is -0.604190 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.86538e-05 +DEAL::At time 0.00970000 force is -0.600991 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.87133e-05 +DEAL::At time 0.00980000 force is -0.597633 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.87609e-05 +DEAL::At time 0.00990000 force is -0.594118 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.87964e-05 +DEAL::At time 0.0100000 force is -0.590449 0.00000 0.00000 torque is 0.00000 0.00000 0.00000 overlap is 5.88201e-05 +DEAL::At time 0.0101000 force is -0.586629 0.00000 0.00000 torque is 0.00000 0.00000 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