The per-manifold coarse-PGS body (e = 0, shared fine accumulator) lives in MlCoarseSweep so the per-colour launch loop and the fused whole-cycle kernel share it verbatim. More...

#include <solver_multilevel.hpp>

Classes
struct	Row
	One coarse row, evaluated up to its effective mass (the part solveOne shares with the oracle test's singleton check). More...

Public Member Functions
bool	row (int idx, int off, Row &r) const

void	solveOne (int idx, int off) const

template<class VV >
void	restrictAngular (int i, int off, int g, float m, const VV &velPred) const
	L_g += mu_q (d_q x v_q) + J_q w_q (3 float atomics per member).

void	normalizeAngular (int gi) const
	Omega_g = invI_g L_g, snapshot Omega0_g.

template<class VV , class VV0 >
void	prolongRigid (int i, int off, int g, const VV &velPred, const VV0 &velG0) const
	v_q += (V_g - V0_g) + (Omega_g - Omega0_g) x d_q; w_q += Omega_g - Omega0_g.

Public Attributes
Kokkos::View< const ManifoldC *, CpMem >	manifolds

Kokkos::View< const int *, CpMem >	realIdx

Kokkos::View< const int *, CpMem >	grp

Kokkos::View< float *[3], CpMem >	velG

Kokkos::View< const float *, CpMem >	invMassG

Kokkos::View< float *, CpMem >	lambdaAcc

Kokkos::View< float, CpMem >	maxApproach

Kokkos::View< const float *, CpMem >	restRel

MlBodyViews	body

Kokkos::View< const float *[3], CpMem >	originG

Kokkos::View< const float *[3], CpMem >	comOffG

Kokkos::View< float *[3], CpMem >	angG

Kokkos::View< float *[3], CpMem >	angG0

Kokkos::View< const float *[6], CpMem >	invIG

Detailed Description

The per-manifold coarse-PGS body (e = 0, shared fine accumulator) lives in MlCoarseSweep so the per-colour launch loop and the fused whole-cycle kernel share it verbatim.

grp aliases the composed body -> group map of the CURRENT level (written by the compose phase between sweeps); off is the level's group-pool offset. The coarse bodies are rigid 6-DOF aggregates (docs/contact_physics_followups.md §2.2-§2.4): (V_g, Omega_g), the M-orthogonal projection of the fine state onto rigid motions; a crossing row's angular arms are T_A = TauA + d_A x N, T_B = TauB - d_B x N (the fine manifold's own impulse, applied at its contact points: dL = 0 exactly), and the prolongation is the rigid motion dV + dOmega x d, dOmega. Translation-only is the limit invI_g -> 0.

Definition at line 659 of file solver_multilevel.hpp.

Member Function Documentation

◆ row()

bool peclet::dem::MlCoarseSweep::row	(	int	idx,
		int	off,
		Row &	r
	)		const

inline

◆ solveOne()

void peclet::dem::MlCoarseSweep::solveOne	(	int	idx,
		int	off
	)		const

inline

◆ restrictAngular()

template<class VV >

void peclet::dem::MlCoarseSweep::restrictAngular	(	int	i,
		int	off,
		int	g,
		float	m,
		const VV &	velPred
	)		const

inline

L_g += mu_q (d_q x v_q) + J_q w_q (3 float atomics per member).

Definition at line 782 of file solver_multilevel.hpp.

References peclet::dem::add3(), angG, peclet::dem::MlBodyViews::angVelPred, body, comOffG, peclet::dem::cross3v(), peclet::dem::MlBodyViews::invIc, peclet::dem::mldetail::memberOffset(), originG, peclet::dem::MlBodyViews::posPred, peclet::dem::MlBodyViews::quat, peclet::dem::scale3(), peclet::dem::mldetail::spinInertiaTimes(), peclet::dem::F3::x, peclet::dem::F3::y, and peclet::dem::F3::z.

◆ normalizeAngular()

void peclet::dem::MlCoarseSweep::normalizeAngular ( int gi ) const

inline

Omega_g = invI_g L_g, snapshot Omega0_g.

Definition at line 794 of file solver_multilevel.hpp.

References angG, angG0, invIG, peclet::dem::mldetail::symMul(), peclet::dem::F3::x, peclet::dem::F3::y, and peclet::dem::F3::z.

◆ prolongRigid()

template<class VV , class VV0 >

void peclet::dem::MlCoarseSweep::prolongRigid	(	int	i,
		int	off,
		int	g,
		const VV &	velPred,
		const VV0 &	velG0
	)		const

inline

v_q += (V_g - V0_g) + (Omega_g - Omega0_g) x d_q; w_q += Omega_g - Omega0_g.

Definition at line 803 of file solver_multilevel.hpp.

References angG, angG0, peclet::dem::MlBodyViews::angVelPred, body, comOffG, peclet::dem::cross3v(), peclet::dem::mldetail::memberOffset(), originG, peclet::dem::MlBodyViews::posPred, velG, peclet::dem::F3::x, peclet::dem::F3::y, and peclet::dem::F3::z.

Member Data Documentation

◆ manifolds

Kokkos::View<const ManifoldC*, CpMem> peclet::dem::MlCoarseSweep::manifolds

Definition at line 660 of file solver_multilevel.hpp.

Referenced by row().

◆ realIdx

Kokkos::View<const int*, CpMem> peclet::dem::MlCoarseSweep::realIdx

Definition at line 661 of file solver_multilevel.hpp.

Referenced by row().

◆ grp

Kokkos::View<const int*, CpMem> peclet::dem::MlCoarseSweep::grp

Definition at line 662 of file solver_multilevel.hpp.

Referenced by row().

◆ velG

Kokkos::View<float* [3], CpMem> peclet::dem::MlCoarseSweep::velG

Definition at line 663 of file solver_multilevel.hpp.

Referenced by prolongRigid(), row(), and solveOne().

◆ invMassG

Kokkos::View<const float*, CpMem> peclet::dem::MlCoarseSweep::invMassG

Definition at line 664 of file solver_multilevel.hpp.

Referenced by row().

◆ lambdaAcc

Kokkos::View<float*, CpMem> peclet::dem::MlCoarseSweep::lambdaAcc

Definition at line 665 of file solver_multilevel.hpp.

Referenced by solveOne().

◆ maxApproach

Kokkos::View<float, CpMem> peclet::dem::MlCoarseSweep::maxApproach

Definition at line 666 of file solver_multilevel.hpp.

Referenced by solveOne().

◆ restRel

Kokkos::View<const float*, CpMem> peclet::dem::MlCoarseSweep::restRel

Definition at line 667 of file solver_multilevel.hpp.

Referenced by row().

◆ body

MlBodyViews peclet::dem::MlCoarseSweep::body

Definition at line 669 of file solver_multilevel.hpp.

Referenced by prolongRigid(), restrictAngular(), and row().

◆ originG

Kokkos::View<const float* [3], CpMem> peclet::dem::MlCoarseSweep::originG

Definition at line 670 of file solver_multilevel.hpp.

Referenced by prolongRigid(), restrictAngular(), and row().

◆ comOffG

Kokkos::View<const float* [3], CpMem> peclet::dem::MlCoarseSweep::comOffG

Definition at line 671 of file solver_multilevel.hpp.

Referenced by prolongRigid(), restrictAngular(), and row().

◆ angG

Kokkos::View<float* [3], CpMem> peclet::dem::MlCoarseSweep::angG

Definition at line 672 of file solver_multilevel.hpp.

Referenced by normalizeAngular(), prolongRigid(), restrictAngular(), row(), and solveOne().

◆ angG0

Kokkos::View<float* [3], CpMem> peclet::dem::MlCoarseSweep::angG0

Definition at line 673 of file solver_multilevel.hpp.

Referenced by normalizeAngular(), and prolongRigid().

◆ invIG

Kokkos::View<const float* [6], CpMem> peclet::dem::MlCoarseSweep::invIG

Definition at line 674 of file solver_multilevel.hpp.

Referenced by normalizeAngular(), row(), and solveOne().

The documentation for this struct was generated from the following file:

src/solver_multilevel.hpp

Classes

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ row()

◆ solveOne()

◆ restrictAngular()

◆ normalizeAngular()

◆ prolongRigid()

Member Data Documentation

◆ manifolds

◆ realIdx

◆ grp

◆ velG

◆ invMassG

◆ lambdaAcc

◆ maxApproach

◆ restRel

◆ body

◆ originG

◆ comOffG

◆ angG

◆ angG0

◆ invIG