Add DEMdemo_PlateSinkage: a two-stage plate pressure-sinkage test - #78
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A rigid circular plate is pressed at constant speed into a granular bed and the pressure it carries is recorded against sinkage, which is the classical bevameter experiment terramechanics uses to characterize soil. The demo's structure is the part meant for reuse. Stage 1 prepares the bed cohesionless and saves it with WriteClumpFile; bed preparation is typically around half the cost of a run, and a saved bed serves every later test that wants the same packing. Stage 2 rebuilds a fresh solver, reloads the bed by clump-type name (positions and orientations both, since restoring clump centers without rotations silently changes the packing's interlocking), switches to the stock ForceModelWithCohesion, re-equilibrates, and presses. Preparing cohesionless and testing cohesive is deliberate: cohesion acting during preparation props the packing open and yields a looser bed than asked for. Uses only stock assets: the 3_clump template with the same mass and MOI numbers as DEMdemo_ConePenetration, the cyl_r1_h2 mesh scaled into a disc, and the shipped cohesion force model. Output is a pressure-versus-sinkage CSV plus a console table, with the sinkage datum taken at first contact (mean plate pressure reaching 1 kPa). Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
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A rigid circular plate is pressed at constant speed into a granular bed and the pressure it carries is recorded against sinkage, which is the classical bevameter experiment terramechanics uses to characterize soil.
The demo's structure is the part meant for reuse. Stage 1 prepares the bed cohesionless and saves it with WriteClumpFile; bed preparation is typically around half the cost of a run, and a saved bed serves every later test that wants the same packing. Stage 2 rebuilds a fresh solver, reloads the bed by clump-type name (positions and orientations both, since restoring clump centers without rotations silently changes the packing's interlocking), switches to the stock ForceModelWithCohesion, re-equilibrates, and presses. Preparing cohesionless and testing cohesive is deliberate: cohesion acting during preparation props the packing open and yields a looser bed than asked for.
Uses only stock assets: the 3_clump template with the same mass and MOI numbers as DEMdemo_ConePenetration, the cyl_r1_h2 mesh scaled into a disc, and the shipped cohesion force model. Output is a pressure-versus-sinkage CSV plus a console table, with the sinkage datum taken at first contact (mean plate pressure reaching 1 kPa).