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 # api\_device\_contacts

 Last update: 17.07.2025 

<a id="l00001" name="l00001"></a> 1\#pragma once

<a id="l00002" name="l00002"></a> 2 

<a id="l00003" name="l00003"></a> 3\#include &lt;rocky20/api/rocky\_model\_api.hpp&gt;

<a id="l00004" name="l00004"></a> 4\#include &lt;rocky20/device/device\_forces.hpp&gt;

<a id="l00005" name="l00005"></a> 5\#include &lt;rocky20/device/device\_contact.hpp&gt;

<a id="l00006" name="l00006"></a> 6 

<a id="l00007" name="l00007"></a> 7namespace

<a id="l00008" name="l00008"></a> 8{

<a id="l00009" name="l00009"></a> 9 

<a id="l00010" name="l00010"></a> 10template &lt;typename ForcePipelineFunctions&gt;

<a id="l00011" name="l00011"></a> 11__host__ __device__ void api_process_frictional_contact_data(

<a id="l00012" name="l00012"></a> 12 [IRockyContact](structIRockyContact.xhtml)&amp; contact_api,

<a id="l00013" name="l00013"></a> 13 [IRockyContactOutputData](structIRockyContactOutputData.xhtml)&amp; contact_output,

<a id="l00014" name="l00014"></a> 14 const ForcePipelineFunctions&amp; functions,

<a id="l00015" name="l00015"></a> 15 void* udf_data)

<a id="l00016" name="l00016"></a> 16{

<a id="l00017" name="l00017"></a> 17 auto rocky_contact = contact_api._impl;

<a id="l00018" name="l00018"></a> 18 

<a id="l00019" name="l00019"></a> 19 // Intermediate Data

<a id="l00020" name="l00020"></a> 20 [IRockyContactIntermediateData](structIRockyContactIntermediateData.xhtml) contact_idata {};

<a id="l00021" name="l00021"></a> 21 cuda_contact_intermediate_data&amp; idata = contact_idata._idata;

<a id="l00022" name="l00022"></a> 22 

<a id="l00023" name="l00023"></a> 23 // Output Data

<a id="l00024" name="l00024"></a> 24 contact_output_data&amp; output = contact_output._output;

<a id="l00025" name="l00025"></a> 25 

<a id="l00026" name="l00026"></a> 26 device::get_frictional_contact_general_parameters(

<a id="l00027" name="l00027"></a> 27 *rocky_contact, output, idata, contact_api.[get\_current\_time](structIRockyContact.xhtml#a6cc48e3759e515587e236d283d904f00)());

<a id="l00028" name="l00028"></a> 28 

<a id="l00029" name="l00029"></a> 29 // Custom (or standard) function calculating contact normal force

<a id="l00030" name="l00030"></a> 30 functions.template run&lt;EForcePipelineFunctions::fpfComputeNormalForce&gt;(

<a id="l00031" name="l00031"></a> 31 contact_api, contact_idata, contact_output, udf_data);

<a id="l00032" name="l00032"></a> 32 

<a id="l00033" name="l00033"></a> 33 // Custom (or standard) function calculating contact tangential force

<a id="l00034" name="l00034"></a> 34 functions.template run&lt;EForcePipelineFunctions::fpfComputeTangentialForce&gt;(

<a id="l00035" name="l00035"></a> 35 contact_api, contact_idata, contact_output, udf_data);

<a id="l00036" name="l00036"></a> 36 

<a id="l00037" name="l00037"></a> 37 if (rocky_contact-&gt;get_tangential_force_model() == tfmCustom)

<a id="l00038" name="l00038"></a> 38 device::calculate_mu_and_slip(*rocky_contact, contact_output, contact_idata);

<a id="l00039" name="l00039"></a> 39 

<a id="l00040" name="l00040"></a> 40 // Custom (or standard) function calculating contact rolling resistance

<a id="l00041" name="l00041"></a> 41 functions.template run&lt;EForcePipelineFunctions::fpfComputeRollingResistance&gt;(

<a id="l00042" name="l00042"></a> 42 contact_api, contact_idata, contact_output, udf_data);

<a id="l00043" name="l00043"></a> 43 if (!contact_output._is_rr_power_set)

<a id="l00044" name="l00044"></a> 44 device::calculate_standard_rr_power(*rocky_contact, contact_idata, contact_output);

<a id="l00045" name="l00045"></a> 45 

<a id="l00046" name="l00046"></a> 46 // Custom (or standard) function calculating contact impact energies

<a id="l00047" name="l00047"></a> 47 

<a id="l00048" name="l00048"></a> 48 if (rocky_contact-&gt;model-&gt;gen-&gt;flags.needs_impact_energy())

<a id="l00049" name="l00049"></a> 49 {

<a id="l00050" name="l00050"></a> 50 functions.template run&lt;EForcePipelineFunctions::fpfComputeImpactEnergy&gt;(

<a id="l00051" name="l00051"></a> 51 contact_api, contact_idata, contact_output, udf_data);

<a id="l00052" name="l00052"></a> 52 }

<a id="l00053" name="l00053"></a> 53 

<a id="l00054" name="l00054"></a> 54 device::calculate_standard_shear_energy(contact_output, contact_api);

<a id="l00055" name="l00055"></a> 55 

<a id="l00056" name="l00056"></a> 56 device::get_total_frictional_forces_and_moments(*rocky_contact, output, idata);

<a id="l00057" name="l00057"></a> 57 

<a id="l00058" name="l00058"></a> 58 /\* updating stored values \*/

<a id="l00059" name="l00059"></a> 59 const int contact_index = rocky_contact-&gt;contact_index;

<a id="l00060" name="l00060"></a> 60 rocky20::ContactScalars&amp; scalars = rocky_contact-&gt;get_scalars();

<a id="l00061" name="l00061"></a> 61 

<a id="l00062" name="l00062"></a> 62 if (rocky_contact-&gt;get_normal_force_model() != nfmLinearHysteresis)

<a id="l00063" name="l00063"></a> 63 scalars.get_normal_force(contact_index) = output.normal_force;

<a id="l00064" name="l00064"></a> 64 

<a id="l00065" name="l00065"></a> 65 if (scalars.has_tangential_force_enabled()

<a id="l00066" name="l00066"></a> 66 &amp;&amp; (rocky_contact-&gt;get_tangential_force_model() == tfmCustom

<a id="l00067" name="l00067"></a> 67 || rocky_contact-&gt;get_tangential_force_model() == tfmCoulombLimitTangential))

<a id="l00068" name="l00068"></a> 68 scalars.get_tangential_forces()[contact_index] = output.tangential_force;

<a id="l00069" name="l00069"></a> 69 

<a id="l00070" name="l00070"></a> 70 if (scalars.has_tangential_sliding_enabled()

<a id="l00071" name="l00071"></a> 71 &amp;&amp; rocky_contact-&gt;get_tangential_force_model() == tfmCustom)

<a id="l00072" name="l00072"></a> 72 scalars.get_is_sliding_scalars()[contact_index] = contact_output._sliding;

<a id="l00073" name="l00073"></a> 73 

<a id="l00074" name="l00074"></a> 74 if (scalars.has_sliding_distance())

<a id="l00075" name="l00075"></a> 75 scalars.get_sliding_distance(contact_index) = output.sliding_distance;

<a id="l00076" name="l00076"></a> 76 if (scalars.has_normal_relative_velocity())

<a id="l00077" name="l00077"></a> 77 scalars.[get\_normal\_relative\_velocity](structIRockyContactOutputData.xhtml#adb3a62ea0f7da835ebeec3ec48d72214)(contact_index) = output.normal_velocity;

<a id="l00078" name="l00078"></a> 78 if (scalars.has_tangential_relative_velocity())

<a id="l00079" name="l00079"></a> 79 scalars.get_tangential_relative_velocity(contact_index) = output.tangential_velocity;

<a id="l00080" name="l00080"></a> 80 

<a id="l00081" name="l00081"></a> 81 if (rocky_contact-&gt;model-&gt;gen-&gt;flags.needs_energy_dissipation())

<a id="l00082" name="l00082"></a> 82 device::compute_frictional_dissipation_energy(

<a id="l00083" name="l00083"></a> 83 *rocky_contact, output, idata, output.rr_power);

<a id="l00084" name="l00084"></a> 84}

<a id="l00085" name="l00085"></a> 85 

<a id="l00086" name="l00086"></a> 86 

<a id="l00087" name="l00087"></a> 87template &lt;typename Callable&gt;

<a id="l00088" name="l00088"></a> 88__host__ __device__ void api_process_adhesive_contact_data(

<a id="l00089" name="l00089"></a> 89 [IRockyContact](structIRockyContact.xhtml)&amp; contact_api, [IRockyAdhesionOutputData](structIRockyAdhesionOutputData.xhtml)&amp; output_data,

<a id="l00090" name="l00090"></a> 90 Callable process_contact_ptr, void *udf_data,

<a id="l00091" name="l00091"></a> 91 cu_real* normal_adhesion_forces, cu_real3* tangential_adhesion_forces

<a id="l00092" name="l00092"></a> 92)

<a id="l00093" name="l00093"></a> 93{

<a id="l00094" name="l00094"></a> 94 cuda_contact_intermediate_data idata{};

<a id="l00095" name="l00095"></a> 95 auto rocky_contact = contact_api._impl;

<a id="l00096" name="l00096"></a> 96 

<a id="l00097" name="l00097"></a> 97 device::get_adhesive_contact_general_parameters(

<a id="l00098" name="l00098"></a> 98 *rocky_contact, output_data._output, idata, contact_api.[get\_current\_time](structIRockyContact.xhtml#a6cc48e3759e515587e236d283d904f00)());

<a id="l00099" name="l00099"></a> 99 

<a id="l00100" name="l00100"></a> 100 // Custom function calculating adhesive force

<a id="l00101" name="l00101"></a> 101 process_contact_ptr(contact_api, output_data, udf_data);

<a id="l00102" name="l00102"></a> 102 auto&amp; output = output_data._output;

<a id="l00103" name="l00103"></a> 103 

<a id="l00104" name="l00104"></a> 104 const auto scale = rocky_contact-&gt;get_scale();

<a id="l00105" name="l00105"></a> 105 output.adhesive_normal_force *= scale;

<a id="l00106" name="l00106"></a> 106 output.adhesive_tangential_force *= scale;

<a id="l00107" name="l00107"></a> 107 

<a id="l00108" name="l00108"></a> 108 output.force = output.adhesive_normal_force * rocky_contact-&gt;get_normal_unit_vector()

<a id="l00109" name="l00109"></a> 109 + output.adhesive_tangential_force;

<a id="l00110" name="l00110"></a> 110 

<a id="l00111" name="l00111"></a> 111 if (rocky_contact-&gt;model-&gt;gen-&gt;flags.needs_energy_dissipation())

<a id="l00112" name="l00112"></a> 112 device::compute_adhesive_dissipation_energy(*rocky_contact, output, idata);

<a id="l00113" name="l00113"></a> 113 

<a id="l00114" name="l00114"></a> 114 if (normal_adhesion_forces)

<a id="l00115" name="l00115"></a> 115 normal_adhesion_forces[rocky_contact-&gt;contact_index] = output.adhesive_normal_force;

<a id="l00116" name="l00116"></a> 116 if (tangential_adhesion_forces)

<a id="l00117" name="l00117"></a> 117 tangential_adhesion_forces[rocky_contact-&gt;contact_index] = output.adhesive_tangential_force;

<a id="l00118" name="l00118"></a> 118 

<a id="l00119" name="l00119"></a> 119 output.home_moment = cross(idata.home_arm, output.force);

<a id="l00120" name="l00120"></a> 120 if (rocky_contact-&gt;is_particle_contact)

<a id="l00121" name="l00121"></a> 121 output.near_moment = -cross(idata.near_arm, output.force);

<a id="l00122" name="l00122"></a> 122}

<a id="l00123" name="l00123"></a> 123 

<a id="l00124" name="l00124"></a> 124} // namespace

<a id="l00125" name="l00125"></a> 125 

<a id="l00126" name="l00126"></a> 126 

<a id="l00127" name="l00127"></a> 127namespace device

<a id="l00128" name="l00128"></a> 128{

<a id="l00129" name="l00129"></a> 129 

<a id="l00130" name="l00130"></a> 130template &lt;class backend, typename Callable&gt;

<a id="l00131" name="l00131"></a> 131__host__ __device__ void execute_contacts_function(

<a id="l00132" name="l00132"></a> 132 SDeviceModel *device_data, cu_real current_time,

<a id="l00133" name="l00133"></a> 133 unsigned int *contact_indexes, int total_number_contacts,

<a id="l00134" name="l00134"></a> 134 bool is_particle_contacts,

<a id="l00135" name="l00135"></a> 135 Callable process_contact_ptr, void *udf_data

<a id="l00136" name="l00136"></a> 136)

<a id="l00137" name="l00137"></a> 137{

<a id="l00138" name="l00138"></a> 138 [IRockyDeviceModel](structIRockyDeviceModel.xhtml) device_model_api;

<a id="l00139" name="l00139"></a> 139 RockyContact rocky_contact(device_data, is_particle_contacts);

<a id="l00140" name="l00140"></a> 140 [IRockyContact](structIRockyContact.xhtml) contact_api { &amp;rocky_contact, current_time };

<a id="l00141" name="l00141"></a> 141 device_model_api._impl.model = device_data;

<a id="l00142" name="l00142"></a> 142 device_model_api._impl.current_time = current_time;

<a id="l00143" name="l00143"></a> 143 

<a id="l00144" name="l00144"></a> 144 // Thread

<a id="l00145" name="l00145"></a> 145 int thread_start, thread_step, thread_stop;

<a id="l00146" name="l00146"></a> 146 backend::ThreadIteration(thread_start, thread_step, thread_stop, total_number_contacts);

<a id="l00147" name="l00147"></a> 147 for (int index = thread_start; index &lt; thread_stop; index += thread_step)

<a id="l00148" name="l00148"></a> 148 {

<a id="l00149" name="l00149"></a> 149 unsigned int contact_index = contact_indexes[index];

<a id="l00150" name="l00150"></a> 150 rocky_contact.reset(contact_index);

<a id="l00151" name="l00151"></a> 151 const SContactState state = rocky_contact.get_state();

<a id="l00152" name="l00152"></a> 152 if (!state.disabled())

<a id="l00153" name="l00153"></a> 153 {

<a id="l00154" name="l00154"></a> 154 process_contact_ptr(device_model_api, contact_api, udf_data);

<a id="l00155" name="l00155"></a> 155 }

<a id="l00156" name="l00156"></a> 156 }

<a id="l00157" name="l00157"></a> 157}

<a id="l00158" name="l00158"></a> 158 

<a id="l00159" name="l00159"></a> 159template &lt;class backend, typename Callable&gt;

<a id="l00160" name="l00160"></a> 160__host__ __device__ void execute_finished_contacts_function(

<a id="l00161" name="l00161"></a> 161 SDeviceModel* device_data, cu_real current_time,

<a id="l00162" name="l00162"></a> 162 int total_number_contacts,

<a id="l00163" name="l00163"></a> 163 bool is_particle_contacts,

<a id="l00164" name="l00164"></a> 164 Callable process_contact_ptr, void* udf_data

<a id="l00165" name="l00165"></a> 165)

<a id="l00166" name="l00166"></a> 166{

<a id="l00167" name="l00167"></a> 167 [IRockyDeviceModel](structIRockyDeviceModel.xhtml) device_model_api;

<a id="l00168" name="l00168"></a> 168 RockyContact rocky_contact(device_data, is_particle_contacts);

<a id="l00169" name="l00169"></a> 169 [IRockyContact](structIRockyContact.xhtml) contact_api { &amp;rocky_contact, current_time };

<a id="l00170" name="l00170"></a> 170 device_model_api._impl.model = device_data;

<a id="l00171" name="l00171"></a> 171 device_model_api._impl.current_time = current_time;

<a id="l00172" name="l00172"></a> 172 

<a id="l00173" name="l00173"></a> 173 // Thread

<a id="l00174" name="l00174"></a> 174 int thread_start, thread_step, thread_stop;

<a id="l00175" name="l00175"></a> 175 backend::ThreadIteration(thread_start, thread_step, thread_stop, total_number_contacts);

<a id="l00176" name="l00176"></a> 176 for (int index = thread_start; index &lt; thread_stop; index += thread_step)

<a id="l00177" name="l00177"></a> 177 {

<a id="l00178" name="l00178"></a> 178 rocky_contact.reset(index);

<a id="l00179" name="l00179"></a> 179 if (rocky_contact.just_finished_adhesive() || rocky_contact.just_finished_frictional())

<a id="l00180" name="l00180"></a> 180 {

<a id="l00181" name="l00181"></a> 181 process_contact_ptr(device_model_api, contact_api, udf_data);

<a id="l00182" name="l00182"></a> 182 }

<a id="l00183" name="l00183"></a> 183 }

<a id="l00184" name="l00184"></a> 184}

<a id="l00185" name="l00185"></a> 185 

<a id="l00186" name="l00186"></a> 186template &lt;class backend, typename Callable&gt;

<a id="l00187" name="l00187"></a> 187__host__ __device__ void execute_active_contacts_function(

<a id="l00188" name="l00188"></a> 188 SDeviceModel* device_data, cu_real current_time,

<a id="l00189" name="l00189"></a> 189 int total_number_contacts,

<a id="l00190" name="l00190"></a> 190 bool is_particle_contacts,

<a id="l00191" name="l00191"></a> 191 Callable process_contact_ptr, void* udf_data

<a id="l00192" name="l00192"></a> 192)

<a id="l00193" name="l00193"></a> 193{

<a id="l00194" name="l00194"></a> 194 [IRockyDeviceModel](structIRockyDeviceModel.xhtml) device_model_api;

<a id="l00195" name="l00195"></a> 195 RockyContact rocky_contact(device_data, is_particle_contacts);

<a id="l00196" name="l00196"></a> 196 [IRockyContact](structIRockyContact.xhtml) contact_api { &amp;rocky_contact, current_time };

<a id="l00197" name="l00197"></a> 197 device_model_api._impl.model = device_data;

<a id="l00198" name="l00198"></a> 198 device_model_api._impl.current_time = current_time;

<a id="l00199" name="l00199"></a> 199 

<a id="l00200" name="l00200"></a> 200 // Thread

<a id="l00201" name="l00201"></a> 201 int thread_start, thread_step, thread_stop;

<a id="l00202" name="l00202"></a> 202 backend::ThreadIteration(thread_start, thread_step, thread_stop, total_number_contacts);

<a id="l00203" name="l00203"></a> 203 for (int index = thread_start; index &lt; thread_stop; index += thread_step)

<a id="l00204" name="l00204"></a> 204 {

<a id="l00205" name="l00205"></a> 205 rocky_contact.reset(index);

<a id="l00206" name="l00206"></a> 206 const SContactState state = rocky_contact.get_state();

<a id="l00207" name="l00207"></a> 207 if (state.is_frictional() || state.is_adhesive())

<a id="l00208" name="l00208"></a> 208 {

<a id="l00209" name="l00209"></a> 209 process_contact_ptr(device_model_api, contact_api, udf_data);

<a id="l00210" name="l00210"></a> 210 }

<a id="l00211" name="l00211"></a> 211 }

<a id="l00212" name="l00212"></a> 212}

<a id="l00213" name="l00213"></a> 213 

<a id="l00214" name="l00214"></a> 214template &lt;class backend, typename Callable&gt;

<a id="l00215" name="l00215"></a> 215__host__ __device__ void execute_all_contacts_function(

<a id="l00216" name="l00216"></a> 216 SDeviceModel *device_data, cu_real current_time,

<a id="l00217" name="l00217"></a> 217 int total_number_contacts,

<a id="l00218" name="l00218"></a> 218 bool is_particle_contacts,

<a id="l00219" name="l00219"></a> 219 Callable process_contact_ptr, void *udf_data

<a id="l00220" name="l00220"></a> 220)

<a id="l00221" name="l00221"></a> 221{

<a id="l00222" name="l00222"></a> 222 [IRockyDeviceModel](structIRockyDeviceModel.xhtml) device_model_api;

<a id="l00223" name="l00223"></a> 223 RockyContact rocky_contact(device_data, is_particle_contacts);

<a id="l00224" name="l00224"></a> 224 [IRockyContact](structIRockyContact.xhtml) contact_api { &amp;rocky_contact, current_time };

<a id="l00225" name="l00225"></a> 225 device_model_api._impl.model = device_data;

<a id="l00226" name="l00226"></a> 226 device_model_api._impl.current_time = current_time;

<a id="l00227" name="l00227"></a> 227 contact_api._impl = &amp;rocky_contact;

<a id="l00228" name="l00228"></a> 228 

<a id="l00229" name="l00229"></a> 229 // Thread

<a id="l00230" name="l00230"></a> 230 int thread_start, thread_step, thread_stop;

<a id="l00231" name="l00231"></a> 231 backend::ThreadIteration(thread_start, thread_step, thread_stop, total_number_contacts);

<a id="l00232" name="l00232"></a> 232 for (int contact_index = thread_start; contact_index &lt; thread_stop; contact_index += thread_step)

<a id="l00233" name="l00233"></a> 233 {

<a id="l00234" name="l00234"></a> 234 //Process frictional contacts

<a id="l00235" name="l00235"></a> 235 rocky_contact.reset(contact_index);

<a id="l00236" name="l00236"></a> 236 const SContactState state = rocky_contact.get_state();

<a id="l00237" name="l00237"></a> 237 if (!state.disabled())

<a id="l00238" name="l00238"></a> 238 {

<a id="l00239" name="l00239"></a> 239 process_contact_ptr(device_model_api, contact_api, udf_data);

<a id="l00240" name="l00240"></a> 240 }

<a id="l00241" name="l00241"></a> 241 }

<a id="l00242" name="l00242"></a> 242}

<a id="l00243" name="l00243"></a> 243 

<a id="l00244" name="l00244"></a> 244template &lt;class backend, typename ForcePipelineFunctions&gt;

<a id="l00245" name="l00245"></a> 245__host__ __device__ void api_compute_particle_contact_frictional_forces(

<a id="l00246" name="l00246"></a> 246 SDeviceModel* device_data,

<a id="l00247" name="l00247"></a> 247 cu_real current_time,

<a id="l00248" name="l00248"></a> 248 const ForcePipelineFunctions&amp; functions,

<a id="l00249" name="l00249"></a> 249 void* udf_data)

<a id="l00250" name="l00250"></a> 250{

<a id="l00251" name="l00251"></a> 251 RockyContact rocky_contact(device_data, true);

<a id="l00252" name="l00252"></a> 252 [IRockyContact](structIRockyContact.xhtml) contact_api { &amp;rocky_contact, current_time };

<a id="l00253" name="l00253"></a> 253 

<a id="l00254" name="l00254"></a> 254 // Thread

<a id="l00255" name="l00255"></a> 255 int thread_start, thread_step, thread_stop;

<a id="l00256" name="l00256"></a> 256 backend::ThreadIteration(thread_start, thread_step, thread_stop, device_data-&gt;n_contacts-&gt;particle_fr);

<a id="l00257" name="l00257"></a> 257 for (int index = thread_start; index &lt; thread_stop; index += thread_step)

<a id="l00258" name="l00258"></a> 258 {

<a id="l00259" name="l00259"></a> 259 unsigned int contact_index = device_data-&gt;ind_cnt_p_fr[index];

<a id="l00260" name="l00260"></a> 260 rocky_contact.reset(contact_index);

<a id="l00261" name="l00261"></a> 261 

<a id="l00262" name="l00262"></a> 262 if (!rocky_contact.get_state().disabled())

<a id="l00263" name="l00263"></a> 263 {

<a id="l00264" name="l00264"></a> 264 [IRockyContactOutputData](structIRockyContactOutputData.xhtml) contact_output{};

<a id="l00265" name="l00265"></a> 265 

<a id="l00266" name="l00266"></a> 266 api_process_frictional_contact_data(contact_api, contact_output, functions, udf_data);

<a id="l00267" name="l00267"></a> 267 

<a id="l00268" name="l00268"></a> 268 update_frictional_particle_contact_forces_and_statistics&lt;backend&gt;(

<a id="l00269" name="l00269"></a> 269 rocky_contact, contact_output._output, current_time);

<a id="l00270" name="l00270"></a> 270 }

<a id="l00271" name="l00271"></a> 271 }

<a id="l00272" name="l00272"></a> 272}

<a id="l00273" name="l00273"></a> 273 

<a id="l00274" name="l00274"></a> 274template &lt;class backend, typename ForcePipelineFunctions&gt;

<a id="l00275" name="l00275"></a> 275__host__ __device__ void api_compute_triangle_contact_frictional_forces(

<a id="l00276" name="l00276"></a> 276 SDeviceModel *device_data, cu_real current_time,

<a id="l00277" name="l00277"></a> 277 const ForcePipelineFunctions&amp; functions, void *udf_data

<a id="l00278" name="l00278"></a> 278)

<a id="l00279" name="l00279"></a> 279{

<a id="l00280" name="l00280"></a> 280 RockyContact rocky_contact(device_data, false);

<a id="l00281" name="l00281"></a> 281 [IRockyContact](structIRockyContact.xhtml) contact_api { &amp;rocky_contact, current_time };

<a id="l00282" name="l00282"></a> 282 

<a id="l00283" name="l00283"></a> 283 // Thread

<a id="l00284" name="l00284"></a> 284 int thread_start, thread_step, thread_stop;

<a id="l00285" name="l00285"></a> 285 backend::ThreadIteration(thread_start, thread_step, thread_stop, device_data-&gt;n_contacts-&gt;triangle_fr);

<a id="l00286" name="l00286"></a> 286 for (int index = thread_start; index &lt; thread_stop; index += thread_step)

<a id="l00287" name="l00287"></a> 287 {

<a id="l00288" name="l00288"></a> 288 unsigned int contact_index = device_data-&gt;ind_cnt_t_fr[index];

<a id="l00289" name="l00289"></a> 289 rocky_contact.reset(contact_index);

<a id="l00290" name="l00290"></a> 290 

<a id="l00291" name="l00291"></a> 291 if (!rocky_contact.get_state().disabled())

<a id="l00292" name="l00292"></a> 292 {

<a id="l00293" name="l00293"></a> 293 [IRockyContactOutputData](structIRockyContactOutputData.xhtml) contact_output{};

<a id="l00294" name="l00294"></a> 294 

<a id="l00295" name="l00295"></a> 295 api_process_frictional_contact_data(contact_api, contact_output, functions, udf_data);

<a id="l00296" name="l00296"></a> 296 

<a id="l00297" name="l00297"></a> 297 update_frictional_triangle_contact_forces_and_statistics&lt;backend&gt;(

<a id="l00298" name="l00298"></a> 298 rocky_contact, contact_output._output, current_time);

<a id="l00299" name="l00299"></a> 299 }

<a id="l00300" name="l00300"></a> 300 }

<a id="l00301" name="l00301"></a> 301}

<a id="l00302" name="l00302"></a> 302 

<a id="l00303" name="l00303"></a> 303template &lt;class backend, typename Callable&gt;

<a id="l00304" name="l00304"></a> 304__host__ __device__ void api_compute_particle_contact_adhesive_forces(

<a id="l00305" name="l00305"></a> 305 SDeviceModel* device_data, cu_real current_time, Callable process_contact_ptr, void* udf_data)

<a id="l00306" name="l00306"></a> 306{

<a id="l00307" name="l00307"></a> 307 RockyContact rocky_contact(device_data, true);

<a id="l00308" name="l00308"></a> 308 [IRockyContact](structIRockyContact.xhtml) contact_api { &amp;rocky_contact, current_time };

<a id="l00309" name="l00309"></a> 309 

<a id="l00310" name="l00310"></a> 310 rocky20::ContactScalars* contact_scalars = device_data-&gt;current_particle_contact_scalars;

<a id="l00311" name="l00311"></a> 311 cu_real* normal_adhesion_forces = contact_scalars-&gt;has_normal_adhesion_force() ?

<a id="l00312" name="l00312"></a> 312 contact_scalars-&gt;get_normal_adhesion_forces() : nullptr;

<a id="l00313" name="l00313"></a> 313 cu_real3* tangential_adhesion_forces = contact_scalars-&gt;has_tangential_adhesion_force() ?

<a id="l00314" name="l00314"></a> 314 contact_scalars-&gt;get_tangential_adhesion_forces() : nullptr;

<a id="l00315" name="l00315"></a> 315 

<a id="l00316" name="l00316"></a> 316 // Thread

<a id="l00317" name="l00317"></a> 317 int thread_start, thread_step, thread_stop;

<a id="l00318" name="l00318"></a> 318 backend::ThreadIteration(thread_start, thread_step, thread_stop, device_data-&gt;n_contacts-&gt;particle_ad);

<a id="l00319" name="l00319"></a> 319 for (int index = thread_start; index &lt; thread_stop; index += thread_step)

<a id="l00320" name="l00320"></a> 320 {

<a id="l00321" name="l00321"></a> 321 unsigned int contact_index = device_data-&gt;ind_cnt_p_ad[index];

<a id="l00322" name="l00322"></a> 322 const SContactState state = contact_scalars-&gt;get_state(contact_index);

<a id="l00323" name="l00323"></a> 323 

<a id="l00324" name="l00324"></a> 324 if (!state.disabled())

<a id="l00325" name="l00325"></a> 325 {

<a id="l00326" name="l00326"></a> 326 rocky_contact.reset(contact_index);

<a id="l00327" name="l00327"></a> 327 [IRockyAdhesionOutputData](structIRockyAdhesionOutputData.xhtml) adhesion_output{};

<a id="l00328" name="l00328"></a> 328 

<a id="l00329" name="l00329"></a> 329 api_process_adhesive_contact_data(

<a id="l00330" name="l00330"></a> 330 contact_api, adhesion_output,

<a id="l00331" name="l00331"></a> 331 process_contact_ptr, udf_data,

<a id="l00332" name="l00332"></a> 332 normal_adhesion_forces, tangential_adhesion_forces

<a id="l00333" name="l00333"></a> 333 );

<a id="l00334" name="l00334"></a> 334 

<a id="l00335" name="l00335"></a> 335 update_adhesive_particle_contact_forces_and_statistics&lt;backend&gt;(

<a id="l00336" name="l00336"></a> 336 rocky_contact, adhesion_output._output);

<a id="l00337" name="l00337"></a> 337 }

<a id="l00338" name="l00338"></a> 338 }

<a id="l00339" name="l00339"></a> 339}

<a id="l00340" name="l00340"></a> 340 

<a id="l00341" name="l00341"></a> 341template &lt;class backend, typename Callable&gt;

<a id="l00342" name="l00342"></a> 342__host__ __device__ void api_compute_triangle_contact_adhesive_forces(

<a id="l00343" name="l00343"></a> 343 SDeviceModel* device_data, cu_real current_time, Callable process_contact_ptr, void* udf_data)

<a id="l00344" name="l00344"></a> 344{

<a id="l00345" name="l00345"></a> 345 RockyContact rocky_contact(device_data, false);

<a id="l00346" name="l00346"></a> 346 [IRockyContact](structIRockyContact.xhtml) contact_api { &amp;rocky_contact, current_time };

<a id="l00347" name="l00347"></a> 347 

<a id="l00348" name="l00348"></a> 348 rocky20::ContactScalars* contact_scalars = device_data-&gt;current_triangle_contact_scalars;

<a id="l00349" name="l00349"></a> 349 cu_real* normal_adhesion_forces = contact_scalars-&gt;has_normal_adhesion_force() ?

<a id="l00350" name="l00350"></a> 350 contact_scalars-&gt;get_normal_adhesion_forces() : nullptr;

<a id="l00351" name="l00351"></a> 351 cu_real3* tangential_adhesion_forces = contact_scalars-&gt;has_tangential_adhesion_force() ?

<a id="l00352" name="l00352"></a> 352 contact_scalars-&gt;get_tangential_adhesion_forces() : nullptr;

<a id="l00353" name="l00353"></a> 353 

<a id="l00354" name="l00354"></a> 354 // Thread

<a id="l00355" name="l00355"></a> 355 int thread_start, thread_step, thread_stop;

<a id="l00356" name="l00356"></a> 356 backend::ThreadIteration(thread_start, thread_step, thread_stop, device_data-&gt;n_contacts-&gt;triangle_ad);

<a id="l00357" name="l00357"></a> 357 for (int index = thread_start; index &lt; thread_stop; index += thread_step)

<a id="l00358" name="l00358"></a> 358 {

<a id="l00359" name="l00359"></a> 359 unsigned int contact_index = device_data-&gt;ind_cnt_t_ad[index];

<a id="l00360" name="l00360"></a> 360 const SContactState state = contact_scalars-&gt;get_state(contact_index);

<a id="l00361" name="l00361"></a> 361 

<a id="l00362" name="l00362"></a> 362 if (!state.disabled())

<a id="l00363" name="l00363"></a> 363 {

<a id="l00364" name="l00364"></a> 364 rocky_contact.reset(contact_index);

<a id="l00365" name="l00365"></a> 365 [IRockyAdhesionOutputData](structIRockyAdhesionOutputData.xhtml) adhesion_output{};

<a id="l00366" name="l00366"></a> 366 

<a id="l00367" name="l00367"></a> 367 api_process_adhesive_contact_data(

<a id="l00368" name="l00368"></a> 368 contact_api, adhesion_output,

<a id="l00369" name="l00369"></a> 369 process_contact_ptr, udf_data,

<a id="l00370" name="l00370"></a> 370 normal_adhesion_forces, tangential_adhesion_forces

<a id="l00371" name="l00371"></a> 371 );

<a id="l00372" name="l00372"></a> 372 

<a id="l00373" name="l00373"></a> 373 update_adhesive_triangle_contact_forces_and_statistics&lt;backend&gt;(

<a id="l00374" name="l00374"></a> 374 rocky_contact, adhesion_output._output);

<a id="l00375" name="l00375"></a> 375 }

<a id="l00376" name="l00376"></a> 376 }

<a id="l00377" name="l00377"></a> 377}

<a id="l00378" name="l00378"></a> 378 

<a id="l00379" name="l00379"></a> 379template &lt;class backend, typename Callable&gt;

<a id="l00380" name="l00380"></a> 380__host__ __device__ void api_compute_boundaries_wear(

<a id="l00381" name="l00381"></a> 381 SDeviceModel* device_data,

<a id="l00382" name="l00382"></a> 382 const cu_real current_time,

<a id="l00383" name="l00383"></a> 383 Callable process_triangle_wear_f_ptr,

<a id="l00384" name="l00384"></a> 384 void* udf_data)

<a id="l00385" name="l00385"></a> 385{

<a id="l00386" name="l00386"></a> 386 RockyContact rocky_contact(device_data, false);

<a id="l00387" name="l00387"></a> 387 

<a id="l00388" name="l00388"></a> 388 [IRockyContact](structIRockyContact.xhtml) contact_api;

<a id="l00389" name="l00389"></a> 389 contact_api._impl = &amp;rocky_contact;

<a id="l00390" name="l00390"></a> 390 

<a id="l00391" name="l00391"></a> 391 int thread_start, thread_step, thread_stop;

<a id="l00392" name="l00392"></a> 392 backend::ThreadIteration(thread_start, thread_step, thread_stop, device_data-&gt;n_contacts-&gt;triangle_fr);

<a id="l00393" name="l00393"></a> 393 for (int index = thread_start; index &lt; thread_stop; index += thread_step)

<a id="l00394" name="l00394"></a> 394 {

<a id="l00395" name="l00395"></a> 395 unsigned int contact_index = device_data-&gt;ind_cnt_t_fr[index];

<a id="l00396" name="l00396"></a> 396 rocky_contact.reset(contact_index);

<a id="l00397" name="l00397"></a> 397 const SContactState state = rocky_contact.get_state();

<a id="l00398" name="l00398"></a> 398 

<a id="l00399" name="l00399"></a> 399 if (!state.disabled())

<a id="l00400" name="l00400"></a> 400 {

<a id="l00401" name="l00401"></a> 401 auto&amp; boundary = rocky_contact.get_near_boundary();

<a id="l00402" name="l00402"></a> 402 if (boundary.wear_model == wmCustom)

<a id="l00403" name="l00403"></a> 403 {

<a id="l00404" name="l00404"></a> 404 double wear_volume;

<a id="l00405" name="l00405"></a> 405 process_triangle_wear_f_ptr(contact_api, wear_volume, udf_data);

<a id="l00406" name="l00406"></a> 406 accumulate_wear_volume&lt;backend&gt;(rocky_contact, wear_volume, current_time);

<a id="l00407" name="l00407"></a> 407 }

<a id="l00408" name="l00408"></a> 408 }

<a id="l00409" name="l00409"></a> 409 }

<a id="l00410" name="l00410"></a> 410}

<a id="l00411" name="l00411"></a> 411 

<a id="l00412" name="l00412"></a> 412} // namespace device

[IRockyAdhesionOutputData](structIRockyAdhesionOutputData.xhtml)

**Definition** rocky_contact_output_data_api.hpp:303



[IRockyContactIntermediateData](structIRockyContactIntermediateData.xhtml)

**Definition** rocky_contact_intermediate_data_api.hpp:17



[IRockyContactOutputData](structIRockyContactOutputData.xhtml)

**Definition** rocky_contact_output_data_api.hpp:37



[IRockyContactOutputData::get\_normal\_relative\_velocity](structIRockyContactOutputData.xhtml#adb3a62ea0f7da835ebeec3ec48d72214)

ROCKY_FUNCTIONS double get_normal_relative_velocity()

**Definition** rocky_contact_output_data_api.hpp:279



[IRockyContact](structIRockyContact.xhtml)

**Definition** rocky_contact_api.hpp:46



[IRockyContact::get\_current\_time](structIRockyContact.xhtml#a6cc48e3759e515587e236d283d904f00)

ROCKY_FUNCTIONS double get_current_time() const

**Definition** rocky_contact_api.hpp:609



[IRockyDeviceModel](structIRockyDeviceModel.xhtml)

**Definition** rocky_model_api.hpp:19