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Added linear and non linear chronos euler simulation model classes in order to be able to out-of-the-box use them with a factory class

This commit is contained in:
iasonmanolas 2022-08-08 12:02:14 +03:00
parent 9fd536ccf3
commit 68d5655214
6 changed files with 264 additions and 229 deletions
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154
chronoseulersimulationmodel.cpp
View File

@ -1,5 +1,4 @@
#include "chronoseulersimulationmodel.hpp"
#include "chrono/physics/ChLoadContainer.h"
#include <chrono/fea/ChBeamSectionEuler.h>
#include <chrono/fea/ChBuilderBeam.h>
#include <chrono/fea/ChLoadsBeam.h>
@ -8,6 +7,7 @@
#include <chrono/physics/ChBody.h>
#include <chrono/physics/ChSystemSMC.h>
#include <chrono/solver/ChIterativeSolverLS.h>
#include "chrono/physics/ChLoadContainer.h"
#include <chrono/assets/ChVisualization.h>
#include <chrono/fea/ChElementBeamEuler.h>
@ -16,9 +16,9 @@
using namespace chrono;
using namespace chrono::fea;
std::shared_ptr<ChMesh> ChronosEulerSimulationModel::convertToChronosMesh_Euler(
const std::shared_ptr<SimulationMesh> &pMesh,
std::vector<std::shared_ptr<ChNodeFEAxyzrot>> &edgeMeshVertsToChronosNodes)
{
const std::shared_ptr<SimulationEdgeMesh>& pMesh,
std::vector<std::shared_ptr<ChNodeFEAxyzrot>>&
edgeMeshVertsToChronosNodes) {
auto mesh_chronos = chrono_types::make_shared<ChMesh>();
edgeMeshVertsToChronosNodes.clear();
edgeMeshVertsToChronosNodes.resize(pMesh->VN(), nullptr);
@ -27,14 +27,14 @@ std::shared_ptr<ChMesh> ChronosEulerSimulationModel::convertToChronosMesh_Euler(
for (int vi = 0; vi < pMesh->VN(); vi++) {
const auto& vertex = pMesh->vert[vi];
ChVector<> vertexPos(vertex.cP()[0], vertex.cP()[1], vertex.cP()[2]);
edgeMeshVertsToChronosNodes[vi] = chrono_types::make_shared<ChNodeFEAxyzrot>(
ChFrame<>(vertexPos));
edgeMeshVertsToChronosNodes[vi] =
chrono_types::make_shared<ChNodeFEAxyzrot>(ChFrame<>(vertexPos));
mesh_chronos->AddNode(edgeMeshVertsToChronosNodes[vi]);
}
// add elements
ChBuilderBeamEuler builder;
for (int ei = 0; ei < pMesh->EN(); ei++) {
const SimulationMesh::EdgeType &edge = pMesh->edge[ei];
const SimulationEdgeMesh::EdgeType& edge = pMesh->edge[ei];
// define end-points
const auto vi0 = pMesh->getIndex(edge.cV(0));
const auto vi1 = pMesh->getIndex(edge.cV(1));
@ -46,20 +46,29 @@ std::shared_ptr<ChMesh> ChronosEulerSimulationModel::convertToChronosMesh_Euler(
// const double poisson = element.material.poissonsRatio;
const double density = 1e0;
// auto msection = chrono_types::make_shared<ChBeamSectionEulerAdvanced>();
auto msection = chrono_types::make_shared<ChBeamSectionEulerEasyRectangular>(
// auto msection =
// chrono_types::make_shared<ChBeamSectionEulerAdvanced>();
auto msection =
chrono_types::make_shared<ChBeamSectionEulerEasyRectangular>(
beam_wy, beam_wz, E, element.material.G, density);
msection->SetArea(element.dimensions.A);
msection->SetIyy(element.dimensions.inertia.I2);
msection->SetIzz(element.dimensions.inertia.I3);
msection->SetJ(element.dimensions.inertia.J);
// msection->SetDensity(density);
// msection->SetYoungModulus(E);
// msection->SetGwithPoissonRatio(poisson);
// // msection->SetBeamRaleyghDamping(0.0);
// msection->SetAsRectangularSection(beam_wy, beam_wz);
builder
.BuildBeam(mesh_chronos, // the mesh where to put the created nodes and elements
msection, // the ChBeamSectionEuler to use for the ChElementBeamEuler elements
builder.BuildBeam(
mesh_chronos, // the mesh where to put the created nodes and elements
msection, // the ChBeamSectionEuler to use for the ChElementBeamEuler
// elements
1, // the number of ChElementBeamEuler to create
edgeMeshVertsToChronosNodes[vi0], // the 'A' point in space (beginning of beam)
edgeMeshVertsToChronosNodes[vi1], // the 'B' point in space (end of beam)
edgeMeshVertsToChronosNodes[vi0], // the 'A' point in space (beginning
// of beam)
edgeMeshVertsToChronosNodes[vi1], // the 'B' point in space (end of
// beam)
ChVector<>(0, 0, 1)
// ChVector<>(0, cos(rot_rad), sin(rot_rad))
); // the 'Y' up direction of the section for the beam
@ -74,51 +83,52 @@ ChronosEulerSimulationModel::ChronosEulerSimulationModel() {}
// const std::shared_ptr<SimulationJob> &pJob)
//{}
//chrono::ChSystemSMC convertToChronosSystem(const std::shared_ptr<SimulationJob> &pJob)
// chrono::ChSystemSMC convertToChronosSystem(const
// std::shared_ptr<SimulationJob> &pJob)
//{
// chrono::ChSystemSMC my_system;
//}
void ChronosEulerSimulationModel::parseForces(
const std::shared_ptr<chrono::fea::ChMesh>& mesh_chronos,
const std::vector<std::shared_ptr<chrono::fea::ChNodeFEAxyzrot>> &edgeMeshVertsToChronoNodes,
const std::unordered_map<VertexIndex, Vector6d> &nodalExternalForces)
{
const std::vector<std::shared_ptr<chrono::fea::ChNodeFEAxyzrot>>&
edgeMeshVertsToChronoNodes,
const std::unordered_map<VertexIndex, Vector6d>& nodalExternalForces) {
mesh_chronos->SetAutomaticGravity(false);
for (const std::pair<VertexIndex, Vector6d> &externalForce : nodalExternalForces) {
for (const std::pair<VertexIndex, Vector6d>& externalForce :
nodalExternalForces) {
const int& forceVi = externalForce.first;
const Vector6d& force = externalForce.second;
edgeMeshVertsToChronoNodes[forceVi]->SetForce(ChVector<>(force[0], force[1], force[2]));
edgeMeshVertsToChronoNodes[forceVi]->SetTorque(ChVector<>(force[3], force[4], force[5]));
edgeMeshVertsToChronoNodes[forceVi]->SetForce(
ChVector<>(force[0], force[1], force[2]));
edgeMeshVertsToChronoNodes[forceVi]->SetTorque(
ChVector<>(force[3], force[4], force[5]));
}
}
void ChronosEulerSimulationModel::parseConstrainedVertices(
const std::shared_ptr<const SimulationJob>& pJob,
const std::vector<std::shared_ptr<chrono::fea::ChNodeFEAxyzrot>> &edgeMeshVertsToChronoNodes,
chrono::ChSystemSMC &my_system)
{
const std::vector<std::shared_ptr<chrono::fea::ChNodeFEAxyzrot>>&
edgeMeshVertsToChronoNodes,
chrono::ChSystemSMC& my_system) {
assert(!edgeMeshVertsToChronoNodes.empty());
for (const std::pair<VertexIndex, std::unordered_set<int>> &constrainedVertex :
pJob->constrainedVertices) {
for (const std::pair<VertexIndex, std::unordered_set<int>>&
constrainedVertex : pJob->constrainedVertices) {
const int& constrainedVi = constrainedVertex.first;
const std::unordered_set<int>& constrainedDoF = constrainedVertex.second;
// Create a truss
auto truss = chrono_types::make_shared<ChBody>();
truss->SetBodyFixed(true);
my_system.Add(truss);
const auto &constrainedChronoNode = edgeMeshVertsToChronoNodes[constrainedVi];
const auto& constrainedChronoNode =
edgeMeshVertsToChronoNodes[constrainedVi];
// Create a constraint at the end of the beam
auto constr_a = chrono_types::make_shared<ChLinkMateGeneric>();
constr_a->SetConstrainedCoords(constrainedDoF.contains(0),
constrainedDoF.contains(1),
constrainedDoF.contains(2),
constrainedDoF.contains(3),
constrainedDoF.contains(4),
constrainedDoF.contains(5));
constr_a->Initialize(constrainedChronoNode,
truss,
false,
constr_a->SetConstrainedCoords(
constrainedDoF.contains(0), constrainedDoF.contains(1),
constrainedDoF.contains(2), constrainedDoF.contains(3),
constrainedDoF.contains(4), constrainedDoF.contains(5));
constr_a->Initialize(constrainedChronoNode, truss, false,
constrainedChronoNode->Frame(),
constrainedChronoNode->Frame());
// const auto frameNode = constrainedChronoNode->Frame();
@ -127,7 +137,8 @@ void ChronosEulerSimulationModel::parseConstrainedVertices(
// edgeMeshVertsToChronoNodes[constrainedVi]->SetFixed(true);
// if (vertexIsFullyConstrained) {
// } else {
// std::cerr << "Currently only rigid vertices are handled." << std::endl;
// std::cerr << "Currently only rigid vertices are handled." <<
// std::endl;
// // SimulationResults simulationResults;
// // simulationResults.converged = false;
// // assert(false);
@ -137,40 +148,44 @@ void ChronosEulerSimulationModel::parseConstrainedVertices(
}
SimulationResults ChronosEulerSimulationModel::executeSimulation(
const std::shared_ptr<SimulationJob> &pJob)
{
// assert(pJob->pMesh->VN() != 0);
const std::shared_ptr<SimulationJob>& pJob) {
assert(pJob->pMesh->VN() != 0);
// const bool structureInitialized = mesh_chronos != nullptr;
// const bool wasInitializedWithDifferentStructure = structureInitialized
// && (pJob->pMesh->EN()
// != mesh_chronos->GetNelements()
// || pJob->pMesh->VN()
// != mesh_chronos->GetNnodes());
// const bool wasInitializedWithDifferentStructure =
// structureInitialized &&
// (pJob->pMesh->EN() != mesh_chronos->GetNelements() ||
// pJob->pMesh->VN() != mesh_chronos->GetNnodes());
// if (!structureInitialized || wasInitializedWithDifferentStructure) {
setStructure(pJob->pMesh);
// }
chrono::ChSystemSMC my_system;
// chrono::irrlicht::ChIrrApp application(&my_system,
// L"Irrlicht FEM visualization",
// irr::core::dimension2d<irr::u32>(800, 600),
// irr::core::dimension2d<irr::u32>(800,
// 600),
// chrono::irrlicht::VerticalDir::Z,
// false,
// true);
// const std::string chronoDataFolderPath = "/home/iason/Coding/build/external "
// const std::string chronoDataFolderPath =
// "/home/iason/Coding/build/external "
// "dependencies/CHRONO-src/data/";
// application.AddTypicalLogo(chronoDataFolderPath + "logo_chronoengine_alpha.png");
// application.AddTypicalLogo(chronoDataFolderPath +
// "logo_chronoengine_alpha.png");
// application.AddTypicalSky(chronoDataFolderPath + "skybox/");
// application.AddTypicalLights();
// application.AddTypicalCamera(irr::core::vector3df(0, (irr::f32) 0.6, -1));
// application.AddTypicalCamera(irr::core::vector3df(0, (irr::f32) 0.6,
// -1));
// my_system.SetTimestepperType(chrono::ChTimestepper::Type::EULER_IMPLICIT_LINEARIZED);
// parse forces
parseForces(mesh_chronos, edgeMeshVertsToChronoNodes, pJob->nodalExternalForces);
parseForces(mesh_chronos, edgeMeshVertsToChronoNodes,
pJob->nodalExternalForces);
// parse constrained vertices
parseConstrainedVertices(pJob, edgeMeshVertsToChronoNodes, my_system);
// std::dynamic_pointer_cast<std::shared_ptr<ChNodeFEAxyzrot>>(mesh_chronos->GetNode(1))
// ->SetFixed(true);
// and load containers must be added to your system
// auto mvisualizemesh = chrono_types::make_shared<ChVisualizationFEAmesh>(*(mesh_chronos.get()));
// auto mvisualizemesh =
// chrono_types::make_shared<ChVisualizationFEAmesh>(*(mesh_chronos.get()));
// mvisualizemesh->SetFEMdataType(ChVisualizationFEAmesh::E_PLOT_NODE_DISP_NORM);
// mvisualizemesh->SetColorscaleMinMax(0.0, 5.50);
// mvisualizemesh->SetShrinkElements(false, 0.85);
@ -183,16 +198,20 @@ SimulationResults ChronosEulerSimulationModel::executeSimulation(
auto solver = chrono_types::make_shared<ChSolverMINRES>();
my_system.SetSolver(solver);
solver->SetMaxIterations(1e5);
// solver->SetMaxIterations(1e5);
// solver->SetTolerance(1e-12);
solver->EnableWarmStart(true); // IMPORTANT for convergence when using EULER_IMPLICIT_LINEARIZED
solver->EnableWarmStart(
true); // IMPORTANT for convergence when using EULER_IMPLICIT_LINEARIZED
solver->EnableDiagonalPreconditioner(true);
my_system.SetSolverForceTolerance(1e-9);
solver->SetVerbose(false);
SimulationResults simulationResults;
if (settings.analysisType == Settings::AnalysisType::Linear) {
simulationResults.converged = my_system.DoStaticLinear();
} else {
simulationResults.converged = my_system.DoStaticNonlinear();
// simulationResults.converged = my_system.DoStaticLinear();
}
if (!simulationResults.converged) {
std::cerr << "Simulation failed" << std::endl;
assert(false);
@ -212,20 +231,26 @@ SimulationResults ChronosEulerSimulationModel::executeSimulation(
simulationResults.rotationalDisplacementQuaternion.resize(pJob->pMesh->VN());
for (size_t vi = 0; vi < pJob->pMesh->VN(); vi++) {
const auto node_chronos = edgeMeshVertsToChronoNodes[vi];
const auto posDisplacement = node_chronos->Frame().GetPos()
- node_chronos->GetX0().GetPos();
// std::cout << "Node " << vi << " coordinate x= " << node_chronos->Frame().GetPos().x()
const auto posDisplacement =
node_chronos->Frame().GetPos() - node_chronos->GetX0().GetPos();
// std::cout << "Node " << vi << " coordinate x= " <<
// node_chronos->Frame().GetPos().x()
// << " y=" << node_chronos->Frame().GetPos().y()
// << " z=" << node_chronos->Frame().GetPos().z() << "\n";
// << " z=" << node_chronos->Frame().GetPos().z() <<
// "\n";
// Translations
simulationResults.displacements[vi][0] = posDisplacement[0];
simulationResults.displacements[vi][1] = posDisplacement[1];
simulationResults.displacements[vi][2] = posDisplacement[2];
// Rotations
chrono::ChQuaternion<double> rotQuat = node_chronos->GetRot();
simulationResults.rotationalDisplacementQuaternion[vi] =
Eigen::Quaternion<double>(rotQuat.e0(), rotQuat.e1(), rotQuat.e2(),
rotQuat.e3());
const Eigen::Vector3d eulerAngles =
simulationResults.rotationalDisplacementQuaternion[vi]
= Eigen::Quaternion<double>(rotQuat.e0(), rotQuat.e1(), rotQuat.e2(), rotQuat.e3());
const ChVector<double> eulerAngles = rotQuat.Q_to_Euler123();
.toRotationMatrix()
.eulerAngles(0, 1, 2);
// std::cout << "Euler angles:" << eulerAngles << std::endl;
simulationResults.displacements[vi][3] = eulerAngles[0];
simulationResults.displacements[vi][4] = eulerAngles[1];
@ -238,8 +263,9 @@ SimulationResults ChronosEulerSimulationModel::executeSimulation(
// VCGEdgeMesh deformedMesh;
// deformedMesh.copy(*(pJob->pMesh));
// for (size_t vi = 0; vi < pJob->pMesh->VN(); vi++) {
// const std::shared_ptr<ChNodeFEAxyzrot> node_chronos = edgeMeshVertsToChronosNodes[vi];
// deformedMesh.vert[vi].P() = CoordType(node_chronos->GetPos()[0],
// const std::shared_ptr<ChNodeFEAxyzrot> node_chronos =
// edgeMeshVertsToChronosNodes[vi]; deformedMesh.vert[vi].P() =
// CoordType(node_chronos->GetPos()[0],
// node_chronos->GetPos()[1],
// node_chronos->GetPos()[2]);
// }
@ -251,7 +277,7 @@ SimulationResults ChronosEulerSimulationModel::executeSimulation(
// return simulationResults;
}
void ChronosEulerSimulationModel::setStructure(const std::shared_ptr<SimulationMesh> &pMesh)
{
void ChronosEulerSimulationModel::setStructure(
const std::shared_ptr<SimulationEdgeMesh>& pMesh) {
mesh_chronos = convertToChronosMesh_Euler(pMesh, edgeMeshVertsToChronoNodes);
}

13
chronoseulersimulationmodel.hpp
View File

@ -28,12 +28,19 @@ class ChronosEulerSimulationModel : public SimulationModel
public:
ChronosEulerSimulationModel();
SimulationResults executeSimulation(const std::shared_ptr<SimulationJob> &pJob) override;
void setStructure(const std::shared_ptr<SimulationMesh> &pMesh) override;
void setStructure(const std::shared_ptr<SimulationEdgeMesh> &pMesh) override;
static std::shared_ptr<chrono::fea::ChMesh> convertToChronosMesh_Euler(
const std::shared_ptr<SimulationMesh> &pMesh,
const std::shared_ptr<SimulationEdgeMesh> &pMesh,
std::vector<std::shared_ptr<chrono::fea::ChNodeFEAxyzrot>> &edgeMeshVertsToChronosNodes);
inline const static std::string label{"Chronos_nonLinear_Euler"};
inline const static std::string label{"Chronos_Euler"};
struct Settings
{
enum AnalysisType { Linear = 0, NonLinear };
AnalysisType analysisType{NonLinear};
};
Settings settings;
};
#endif // CHRONOSEULERSIMULATIONMODEL_HPP

22
chronosigasimulationmodel.cpp
View File

@ -16,7 +16,7 @@
using namespace chrono;
using namespace chrono::fea;
std::shared_ptr<ChMesh> ChronosIGASimulationModel::convertToChronosMesh_IGA(
const std::shared_ptr<SimulationMesh> &pMesh,
const std::shared_ptr<SimulationEdgeMesh> &pMesh,
std::vector<std::shared_ptr<ChNodeFEAxyzrot>> &edgeMeshVertsToChronosNodes)
{
auto mesh_chronos = chrono_types::make_shared<ChMesh>();
@ -34,7 +34,7 @@ std::shared_ptr<ChMesh> ChronosIGASimulationModel::convertToChronosMesh_IGA(
//add elements
ChBuilderBeamIGA builder;
for (int ei = 0; ei < pMesh->EN(); ei++) {
const SimulationMesh::EdgeType &edge = pMesh->edge[ei];
const SimulationEdgeMesh::EdgeType &edge = pMesh->edge[ei];
//define end-points
const auto vi0 = pMesh->getIndex(edge.cV(0));
const auto vi1 = pMesh->getIndex(edge.cV(1));
@ -54,13 +54,14 @@ std::shared_ptr<ChMesh> ChronosIGASimulationModel::convertToChronosMesh_IGA(
// msection->SetGwithPoissonRatio(poisson);
// // msection->SetBeamRaleyghDamping(0.0);
// msection->SetAsRectangularSection(beam_wy, beam_wz);
builder.BuildBeam(
mesh_chronos, // the mesh where to put the created nodes and elements
builder
.BuildBeam(mesh_chronos, // the mesh where to put the created nodes and elements
msection, // the ChBeamSectionEuler to use for the ChElementBeamEuler elements
4, // the number of ChElementBeamEuler to create
edgeMeshVertsToChronosNodes[vi0]->GetPos(), // the 'A' point in space (beginning of beam)
edgeMeshVertsToChronosNodes[vi1]->GetPos(), // the 'B' point in space (end of beam)
ChVector<>(0, 0, 1)
1, // the number of ChElementBeamEuler to create
edgeMeshVertsToChronosNodes[vi0], // the 'A' point in space (beginning of beam)
edgeMeshVertsToChronosNodes[vi1], // the 'B' point in space (end of beam)
ChVector<>(0, 0, 1),
3
// ChVector<>(0, cos(rot_rad), sin(rot_rad))
); // the 'Y' up direction of the section for the beam
const auto lastBeamNodesVector = builder.GetLastBeamNodes();
@ -195,7 +196,8 @@ SimulationResults ChronosIGASimulationModel::executeSimulation(
//parse constrained vertices
// std::cout << node_0->GetCoord().pos[0] << " " << node_0->GetCoord().pos[1] << " "
// << node_0->GetCoord().pos[2] << std::endl;
parseConstrainedVertices(pJob, edgeMeshVertsToChronoNodes, my_system);
// parseConstrainedVertices(pJob, edgeMeshVertsToChronoNodes, my_system);
// std::cout << node_0->GetCoord().pos[0] << " " << node_0->GetCoord().pos[1] << " "
// << node_0->GetCoord().pos[2] << std::endl;
// std::dynamic_pointer_cast<std::shared_ptr<ChNodeFEAxyzrot>>(mesh_chronos->GetNode(1))
@ -290,7 +292,7 @@ SimulationResults ChronosIGASimulationModel::executeSimulation(
// return simulationResults;
}
void ChronosIGASimulationModel::setStructure(const std::shared_ptr<SimulationMesh> &pMesh)
void ChronosIGASimulationModel::setStructure(const std::shared_ptr<SimulationEdgeMesh> &pMesh)
{
mesh_chronos = convertToChronosMesh_IGA(pMesh, edgeMeshVertsToChronoNodes);
}

4
chronosigasimulationmodel.hpp
View File

@ -28,9 +28,9 @@ class ChronosIGASimulationModel : public SimulationModel
public:
ChronosIGASimulationModel();
SimulationResults executeSimulation(const std::shared_ptr<SimulationJob> &pJob) override;
void setStructure(const std::shared_ptr<SimulationMesh> &pMesh) override;
void setStructure(const std::shared_ptr<SimulationEdgeMesh> &pMesh) override;
static std::shared_ptr<chrono::fea::ChMesh> convertToChronosMesh_IGA(
const std::shared_ptr<SimulationMesh> &pMesh,
const std::shared_ptr<SimulationEdgeMesh> &pMesh,
std::vector<std::shared_ptr<chrono::fea::ChNodeFEAxyzrot>> &edgeMeshVertsToChronosNodes);
inline const static std::string label{"Chronos_linear_IGA"};

4
der_leimer.cpp
View File

@ -4210,7 +4210,7 @@ Eigen::Vector3d DER_leimer::getPerpendicularVector(const Eigen::Vector3d &t) con
}
DER_leimer::RodConfig *DER_leimer::readRodGrid(
const std::shared_ptr<SimulationMesh> &pMesh,
const std::shared_ptr<SimulationEdgeMesh> &pMesh,
const std::vector<int> &numVertsPerRod,
const std::vector<int> &
vInd, //index after the physVerts in the verts vector? Contains "global" indices of all centerline vertices eg at intersections all endpoints vertices get the same "global" index. Do interior centerline vertices get a global index?
@ -4837,7 +4837,7 @@ int DER_leimer::RodConfig::getNumDoF() const
return ndofs;
}
void DER_leimer::setStructure(const std::shared_ptr<SimulationMesh> &pMesh)
void DER_leimer::setStructure(const std::shared_ptr<SimulationEdgeMesh> &pMesh)
{
std::cout << "This function is currently not implemented" << std::endl;
assert(false);

4
der_leimer.hpp
View File

@ -140,7 +140,7 @@ public:
int getNumDoF() const;
};
void setStructure(const std::shared_ptr<SimulationMesh> &pMesh) override;
void setStructure(const std::shared_ptr<SimulationEdgeMesh> &pMesh) override;
private:
bool simulateOneStepGrid(RodConfig *config);
@ -159,7 +159,7 @@ private:
std::vector<Eigen::Triplet<int>> *Hu_index = NULL,
std::vector<double> *Hu_value = NULL);
RodConfig *readRodGrid(const std::shared_ptr<SimulationMesh> &pMesh,
RodConfig *readRodGrid(const std::shared_ptr<SimulationEdgeMesh> &pMesh,
const std::vector<int> &numVertsPerRod,
const std::vector<int> &vInd,
const std::vector<Eigen::Vector3d> &verts,