chrono::ChSystemParallelSMC Class Reference

## Description

Parallel systems using smooth contact (penalty-based) method.

#include <ChSystemParallel.h>

Inheritance diagram for chrono::ChSystemParallelSMC:
Collaboration diagram for chrono::ChSystemParallelSMC:

## Public Member Functions

ChSystemParallelSMC (const ChSystemParallelSMC &other)

virtual ChSystemParallelSMCClone () const override
"Virtual" copy constructor (covariant return type).

virtual ChMaterialSurfaceNSC::ContactMethod GetContactMethod () const override
Return the contact method supported by this system. More...

virtual ChBodyNewBody () override
Create and return the pointer to a new body. More...

virtual ChBodyAuxRefNewBodyAuxRef () override
Create and return the pointer to a new body with auxiliary reference frame. More...

virtual void AddMaterialSurfaceData (std::shared_ptr< ChBody > newbody) override

virtual void UpdateMaterialSurfaceData (int index, ChBody *body) override

virtual void Setup () override
Counts the number of bodies and links. More...

virtual void ChangeCollisionSystem (CollisionSystemType type) override

virtual real3 GetBodyContactForce (uint body_id) const override
Get the contact force on the body with specified id.

virtual real3 GetBodyContactTorque (uint body_id) const override
Get the contact torque on the body with specified id.

virtual void PrintStepStats () override

double GetTimerProcessContact () const

Public Member Functions inherited from chrono::ChSystemParallel
ChSystemParallel (const ChSystemParallel &other)

virtual bool Integrate_Y () override
Performs a single dynamical simulation step, according to current values of: Y, time, step (and other minor settings) Depending on the integration type, it switches to one of the following:

virtual void AddBody (std::shared_ptr< ChBody > newbody) override
Attach a body to this assembly.

virtual void AddMesh (std::shared_ptr< fea::ChMesh > mesh) override
Attach a mesh to this assembly.

virtual void AddOtherPhysicsItem (std::shared_ptr< ChPhysicsItem > newitem) override
Attach a ChPhysicsItem object that is not a body, link, or mesh.

void ClearForceVariables ()

virtual void Update ()

virtual void UpdateBilaterals ()

virtual void UpdateOtherPhysics ()

virtual void UpdateRigidBodies ()

virtual void Update3DOFBodies ()

void SetMaterialCompositionStrategy (std::unique_ptr< ChMaterialCompositionStrategy< real >> &&strategy)
Change the default composition laws for contact surface materials (coefficient of friction, cohesion, compliance, etc.). More...

unsigned int GetNumBodies ()

unsigned int GetNumShafts ()

unsigned int GetNumContacts ()

unsigned int GetNumBilaterals ()

virtual double GetTimerStep () const override
Return the time (in seconds) spent for computing the time step.

virtual double GetTimerAdvance () const override
Return the time (in seconds) for time integration, within the time step.

virtual double GetTimerSolver () const override
Return the time (in seconds) for the solver, within the time step. More...

virtual double GetTimerSetup () const override
Return the time (in seconds) for the solver Setup phase, within the time step.

virtual double GetTimerJacobian () const override
Return the time (in seconds) for calculating/loading Jacobian information, within the time step.

virtual double GetTimerCollision () const override
Return the time (in seconds) for runnning the collision detection step, within the time step.

virtual double GetTimerUpdate () const override
Return the time (in seconds) for updating auxiliary data, within the time step.

virtual void CalculateContactForces ()
Calculate cummulative contact forces for all bodies in the system.

void CalculateBodyAABB ()
Calculate current body AABBs.

real3 GetBodyContactForce (std::shared_ptr< ChBody > body) const
Get the contact force on the specified body.

real3 GetBodyContactTorque (std::shared_ptr< ChBody > body) const
Get the contact torque on the specified body.

settings_containerGetSettings ()

void SetLoggingLevel (LoggingLevel level, bool state=true)

double CalculateConstraintViolation (std::vector< double > &cvec)
Calculate the (linearized) bilateral constraint violations. More...

Public Member Functions inherited from chrono::ChSystem
ChSystem ()
Create a physical system.

ChSystem (const ChSystem &other)
Copy constructor.

virtual ~ChSystem ()
Destructor.

void SetStep (double m_step)
Sets the time step used for integration (dynamical simulation). More...

double GetStep () const
Gets the current time step used for the integration (dynamical simulation).

void SetEndTime (double m_end_time)
Sets the end of simulation.

double GetEndTime () const
Gets the end of the simulation.

void SetStepMin (double m_step_min)
Sets the lower limit for time step (only needed if using integration methods which support time step adaption). More...

double GetStepMin () const
Gets the lower limit for time step.

void SetStepMax (double m_step_max)
Sets the upper limit for time step (only needed if using integration methods which support time step adaption). More...

double GetStepMax () const
Gets the upper limit for time step.

void SetTimestepperType (ChTimestepper::Type type)
Set the method for time integration (time stepper type). More...

ChTimestepper::Type GetTimestepperType () const
Get the current method for time integration (time stepper type).

void SetTimestepper (std::shared_ptr< ChTimestepper > mstepper)
Set the timestepper object to be used for time integration.

std::shared_ptr< ChTimestepperGetTimestepper () const
Get the timestepper currently used for time integration.

void SetMaxiter (int m_maxiter)
Sets outer iteration limit for assembly constraints. More...

int GetMaxiter () const
Gets iteration limit for assembly constraints.

void SetTol (double tolerance)
Sets tolerance (in m) for assembly constraints. More...

double GetTol () const
Gets current tolerance for assembly constraints.

void SetTolForce (double tolerance)
Sets tolerance for satisfying constraints at the velocity level. More...

double GetTolForce () const
Return the current value of the tolerance used in the speed solver.

void SetMaterialCompositionStrategy (std::unique_ptr< ChMaterialCompositionStrategy< float >> &&strategy)
Change the default composition laws for contact surface materials (coefficient of friction, cohesion, compliance, etc.)

void SetMinBounceSpeed (double mval)
For elastic collisions, with objects that have nonzero restitution coefficient: objects will rebounce only if their relative colliding speed is above this threshold. More...

double GetMinBounceSpeed () const
Objects will rebounce only if their relative colliding speed is above this threshold.

void SetMaxPenetrationRecoverySpeed (double mval)
For the default stepper, you can limit the speed of exiting from penetration situations. More...

double GetMaxPenetrationRecoverySpeed () const
Get the limit on the speed for exiting from penetration situations (for Anitescu stepper)

virtual void SetSolverType (ChSolver::Type type)
Choose the solver type, to be used for the simultaneous solution of the constraints in dynamical simulations (as well as in kinematics, statics, etc.) More...

ChSolver::Type GetSolverType () const
Gets the current solver type.

When using an iterative solver (es. More...

Current maximum number of iterations, if using an iterative solver.

When using an iterative solver (es. More...

Current maxi. number of iterations, if using an iterative solver for stabilization.

void SetSolverWarmStarting (bool usewarm=true)
If you want to easily turn ON/OFF the warm starting feature of both iterative solvers (the one for speed and the other for pos.stabilization) you can simply use the following instead of accessing them directly with GetSolver() and GetStabSolver()

bool GetSolverWarmStarting () const
Tell if the warm starting is enabled for the speed solver, (if iterative type).

void SetSolverOverrelaxationParam (double momega=1.0)
If you want to easily adjust the omega overrelaxation parameter of both iterative solvers (the one for speed and the other for position stabilization) you can simply use the following instead of accessing them directly with GetSolver() and GetStabSolver(). More...

double GetSolverOverrelaxationParam () const
Tell the omega overrelaxation factor for the speed solver, (if iterative type).

void SetSolverSharpnessParam (double momega=1.0)
If you want to easily adjust the 'sharpness lambda' parameter of both iterative solvers (the one for speed and the other for pos.stabilization) you can simply use the following instead of accessing them directly with GetSolver() and GetStabSolver(). More...

double GetSolverSharpnessParam () const
Tell the 'sharpness lambda' factor for the speed solver, (if iterative type).

virtual void SetStabSolver (std::shared_ptr< ChSolver > newsolver)
Instead of using SetSolverType(), you can create your own custom solver (inherited from ChSolver) and plug it into the system using this function. More...

virtual std::shared_ptr< ChSolverGetStabSolver ()
Access directly the stabilization solver, configured to be used for the stabilization of constraints (solve delta positions). More...

virtual void SetSolver (std::shared_ptr< ChSolver > newsolver)
Instead of using SetSolverType(), you can create your own custom solver (suffice it is inherited from ChSolver) and plug it into the system using this function. More...

virtual std::shared_ptr< ChSolverGetSolver ()
Access directly the solver, configured to be used for the main differential inclusion problem (on speed-impulses). More...

void SetSystemDescriptor (std::shared_ptr< ChSystemDescriptor > newdescriptor)
Instead of using the default 'system descriptor', you can create your own custom descriptor (inherited from ChSystemDescriptor) and plug it into the system using this function. More...

std::shared_ptr< ChSystemDescriptorGetSystemDescriptor ()
Access directly the 'system descriptor'.

Changes the number of parallel threads (by default is n.of cores). More...

Get the number of parallel threads. More...

void Set_G_acc (const ChVector<> &m_acc)
Sets the G (gravity) acceleration vector, affecting all the bodies in the system.

const ChVectorGet_G_acc () const
Gets the G (gravity) acceleration vector affecting all the bodies in the system.

void SetupInitial () override
Initial system setup before analysis. More...

void Clear ()
Removes all bodies/marker/forces/links/contacts, also resets timers and events. More...

void AddProbe (const std::shared_ptr< ChProbe > &newprobe)
Attach a probe to this system.

void AddControls (const std::shared_ptr< ChControls > &newcontrols)
Attach a control to this system.

void RemoveAllProbes ()
Remove all probes from this system.

void RemoveAllControls ()
Remove all controls from this system.

virtual void SetContactContainer (std::shared_ptr< ChContactContainer > container)
Replace the contact container.

std::shared_ptr< ChContactContainerGetContactContainer ()
Get the contact container.

void Reference_LM_byID ()
Given inserted markers and links, restores the pointers of links to markers given the information about the marker IDs. More...

int GetNcontacts ()
Gets the number of contacts.

Return the time (in seconds) for broadphase collision detection, within the time step.

double GetTimerCollisionNarrow () const
Return the time (in seconds) for narrowphase collision detection, within the time step.

void ResetTimers ()
Resets the timers.

virtual void Update (bool update_assets=true) override
Updates all the auxiliary data and children of bodies, forces, links, given their current state. More...

virtual void IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) override
From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More...

virtual void IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T) override
From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More...

virtual void IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) override
From item's state acceleration to global acceleration vector.

virtual void IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) override
From state derivative (acceleration) to system, sometimes might be needed.

virtual void IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) override
From system to reaction forces (last computed) - some timestepper might need this.

virtual void IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) override
From reaction forces to system, ex. store last computed reactions in ChLink objects for plotting etc.

virtual void IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) override
Computes x_new = x + Dt , using vectors at specified offsets. More...

virtual void IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override
Takes the F force term, scale and adds to R at given offset: R += c*F.

virtual void IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) override
Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w.

virtual void IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) override
Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L.

virtual void IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) override
Takes the term C, scale and adds to Qc at given offset: Qc += c*C.

virtual void IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c) override
Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct.

virtual void IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) override
Prepare variables and constraints to accommodate a solution:

virtual void IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) override
After a solver solution, fetch values from variables and constraints into vectors:

virtual void InjectVariables (ChSystemDescriptor &mdescriptor) override
Tell to a system descriptor that there are variables of type ChVariables in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. More...

virtual void InjectConstraints (ChSystemDescriptor &mdescriptor) override
Tell to a system descriptor that there are constraints of type ChConstraint in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. More...

Adds the current jacobians in encapsulated ChConstraints.

virtual void InjectKRMmatrices (ChSystemDescriptor &mdescriptor) override
Tell to a system descriptor that there are items of type ChKblock in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. More...

virtual void KRMmatricesLoad (double Kfactor, double Rfactor, double Mfactor) override
Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any. More...

virtual void VariablesFbReset () override
Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero.

virtual void VariablesFbLoadForces (double factor=1) override
Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor.

Initialize the 'qb' part of the ChVariables with the current value of speeds. More...

virtual void VariablesFbIncrementMq () override
Adds M*q (masses multiplied current 'qb') to Fb, ex. More...

virtual void VariablesQbSetSpeed (double step=0) override
Fetches the item speed (ex. More...

virtual void VariablesQbIncrementPosition (double step) override
Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More...

virtual void ConstraintsBiReset () override
Sets to zero the known term (b_i) of encapsulated ChConstraints.

virtual void ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false) override
Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints.

virtual void ConstraintsBiLoad_Ct (double factor=1) override
Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints.

virtual void ConstraintsBiLoad_Qc (double factor=1) override
Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints.

virtual void ConstraintsFbLoadForces (double factor=1) override
Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints.

virtual void ConstraintsFetch_react (double factor=1) override
Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More...

virtual int GetNcoords_x () override
Tells the number of position coordinates x in y = {x, v}.

virtual int GetNcoords_v () override
Tells the number of speed coordinates of v in y = {x, v} and dy/dt={v, a}.

virtual int GetNconstr () override
Tells the number of lagrangian multipliers (constraints)

virtual void StateGather (ChState &x, ChStateDelta &v, double &T) override
From system to state y={x,v}.

virtual void StateScatter (const ChState &x, const ChStateDelta &v, const double T) override
From state Y={x,v} to system.

virtual void StateGatherAcceleration (ChStateDelta &a) override
From system to state derivative (acceleration), some timesteppers might need last computed accel.

virtual void StateScatterAcceleration (const ChStateDelta &a) override
From state derivative (acceleration) to system, sometimes might be needed.

virtual void StateGatherReactions (ChVectorDynamic<> &L) override
From system to reaction forces (last computed) - some timestepper might need this.

virtual void StateScatterReactions (const ChVectorDynamic<> &L) override
From reaction forces to system, ex. store last computed reactions in ChLink objects for plotting etc.

virtual void StateIncrementX (ChState &x_new, const ChState &x, const ChStateDelta &Dx) override
Perform x_new = x + dx for x in Y = {x, dx/dt} It takes care of the fact that x has quaternions, dx has angular vel etc. More...

virtual bool StateSolveCorrection (ChStateDelta &Dv, ChVectorDynamic<> &L, const ChVectorDynamic<> &R, const ChVectorDynamic<> &Qc, const double c_a, const double c_v, const double c_x, const ChState &x, const ChStateDelta &v, const double T, bool force_state_scatter=true, bool force_setup=true) override
Assuming a DAE of the form M*a = F(x,v,t) + Cq'*L C(x,t) = 0 this function computes the solution of the change Du (in a or v or x) for a Newton iteration within an implicit integration scheme. More...

virtual void LoadResidual_F (ChVectorDynamic<> &R, const double c) override
Increment a vector R with the term c*F: R += c*F. More...

virtual void LoadResidual_Mv (ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) override
Increment a vector R with a term that has M multiplied a given vector w: R += c*M*w. More...

virtual void LoadResidual_CqL (ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) override
Increment a vectorR with the term Cq'*L: R += c*Cq'*L. More...

virtual void LoadConstraint_C (ChVectorDynamic<> &Qc, const double c, const bool do_clamp=false, const double mclam=1e30) override
Increment a vector Qc with the term C: Qc += c*C. More...

virtual void LoadConstraint_Ct (ChVectorDynamic<> &Qc, const double c) override
Increment a vector Qc with the term Ct = partial derivative dC/dt: Qc += c*Ct. More...

int RecordAllProbes ()
If ChProbe() objects are added to this system, using this command you force the ChProbe::Record() on all them, at once. More...

int ResetAllProbes ()
If ChProbe() objects are added to this system, using this command you force the ChProbe::Reset() on all them, at once. More...

virtual void CustomEndOfStep ()
Executes custom processing at the end of step. More...

bool ExecuteControlsForUpdate ()
If ChControl() objects are added to this system, using the following commands you call the execution of their scripts. More...

bool ExecuteControlsForStep ()

void SynchronizeLastCollPositions ()
All bodies with collision detection data are requested to store the current position as "last position collision-checked".

double ComputeCollisions ()
Perform the collision detection. More...

void RegisterCustomCollisionCallback (CustomCollisionCallback *mcallb)
Specify a callback object to be invoked at each collision detection step. More...

void SetCollisionSystem (std::shared_ptr< collision::ChCollisionSystem > newcollsystem)
For higher performance (ex. More...

std::shared_ptr< collision::ChCollisionSystemGetCollisionSystem () const
Access the collision system, the engine which computes the contact points (usually you don't need to access it, since it is automatically handled by the client ChSystem object). More...

void SetUseSleeping (bool ms)
Turn on this feature to let the system put to sleep the bodies whose motion has almost come to a rest. More...

bool GetUseSleeping () const
Tell if the system will put to sleep the bodies whose motion has almost come to a rest.

int DoStepDynamics (double m_step)
Advances the dynamical simulation for a single step, of length m_step. More...

bool DoFrameDynamics (double m_endtime)
Performs integration until the m_endtime is exactly reached, but current time step may be automatically "retouched" to meet exactly the m_endtime after n steps. More...

bool DoEntireDynamics ()
Given the current state, the sw simulates the dynamical behavior of the system, until the end time is reached, repeating many steps (maybe the step size will be automatically changed if the integrator method supports step size adaption). More...

bool DoEntireUniformDynamics (double frame_step)
Like "DoEntireDynamics", but results are provided at uniform steps "frame_step", using the DoFrameDynamics() many times. More...

size_t GetStepcount () const
Return the total number of time steps taken so far.

void ResetStepcount ()
Reset to 0 the total number of time steps.

int GetSolverCallsCount () const
Return the number of calls to the solver's Solve() function. More...

int GetSolverSetupCount () const
Return the number of calls to the solver's Setup() function. More...

void SetDumpSolverMatrices (bool md)
Set this to "true" to enable automatic saving of solver matrices at each time step, for debugging purposes. More...

bool GetDumpSolverMatrices () const

void DumpSystemMatrices (bool save_M, bool save_K, bool save_R, bool save_Cq, const char *path)
Dump the current M mass matrix, K damping matrix, R damping matrix, Cq constraint jacobian matrix (at the current configuration). More...

void GetMassMatrix (ChSparseMatrix *M)
Compute the system-level mass matrix. More...

void GetStiffnessMatrix (ChSparseMatrix *K)
Compute the system-level stiffness matrix, i.e. More...

void GetDampingMatrix (ChSparseMatrix *R)
Compute the system-level damping matrix, i.e. More...

void GetConstraintJacobianMatrix (ChSparseMatrix *Cq)
Compute the system-level constraint jacobian matrix, i.e. More...

bool DoStepKinematics (double m_step)
Advances the kinematic simulation for a single step, of length m_step. More...

bool DoFrameKinematics (double m_endtime)
Performs kinematics until the m_endtime is exactly reached, but current time step may be automatically "retouched" to meet exactly the m_endtime after n steps. More...

bool DoEntireKinematics ()
Given the current state, this kinematic simulation satisfies all the constraints with the "DoStepKinematics" procedure for each time step, from the current time to the end time. More...

bool DoAssembly (int action)
Given the current time and state, attempt to satisfy all constraints, using a Newton-Raphson iteration loop. More...

bool DoFullAssembly ()
Shortcut for full position/velocity/acceleration assembly.

bool DoStaticLinear ()
Solve the position of static equilibrium (and the reactions). More...

bool DoStaticNonlinear (int nsteps=10)
Solve the position of static equilibrium (and the reactions). More...

bool DoStaticRelaxing (int nsteps=10)
Finds the position of static equilibrium (and the reactions) starting from the current position. More...

virtual void ArchiveOUT (ChArchiveOut &marchive) override
Method to allow serialization of transient data to archives.

virtual void ArchiveIN (ChArchiveIn &marchive) override
Method to allow deserialization of transient data from archives.

int FileProcessChR (ChStreamInBinary &m_file)
Process a ".chr" binary file containing the full system object hierarchy as exported -for example- by the R3D modeler, with chrono plug-in version, or by using the FileWriteChR() function. More...

int FileWriteChR (ChStreamOutBinary &m_file)
Write a ".chr" binary file containing the full system object hierarchy (bodies, forces, links, etc.) (deprecated function - obsolete)

Public Member Functions inherited from chrono::ChAssembly
ChAssembly (const ChAssembly &other)

void Clear ()
Removes all inserted items: bodies, links, etc.

Attach a link to this assembly.

void Add (std::shared_ptr< ChPhysicsItem > item)
Attach an arbitrary ChPhysicsItem (e.g. More...

void AddBatch (std::shared_ptr< ChPhysicsItem > item)
Items added in this way are added like in the Add() method, but not instantly, they are simply queued in a batch of 'to add' items, that are added automatically at the first Setup() call. More...

void FlushBatch ()
If some items are queued for addition in the assembly, using AddBatch(), this will effectively add them and clean the batch. More...

virtual void RemoveBody (std::shared_ptr< ChBody > body)
Remove a body from this assembly.

Remove a link from this assembly.

virtual void RemoveMesh (std::shared_ptr< fea::ChMesh > mesh)
Remove a mesh from the assembly.

virtual void RemoveOtherPhysicsItem (std::shared_ptr< ChPhysicsItem > item)
Remove a ChPhysicsItem object that is not a body or a link.

void Remove (std::shared_ptr< ChPhysicsItem > item)
Remove arbitrary ChPhysicsItem that was added to the assembly.

void RemoveAllBodies ()
Remove all bodies from this assembly.

Remove all links from this assembly.

void RemoveAllMeshes ()
Remove all meshes from this assembly.

void RemoveAllOtherPhysicsItems ()
Remove all physics items not in the body, link, or mesh lists.

const std::vector< std::shared_ptr< ChBody > > & Get_bodylist () const
Get the list of bodies.

const std::vector< std::shared_ptr< fea::ChMesh > > & Get_meshlist () const
Get the list of meshes.

const std::vector< std::shared_ptr< ChPhysicsItem > > & Get_otherphysicslist () const
Get the list of physics items that are not in the body or link lists.

std::shared_ptr< ChBodySearchBody (const char *name)
Search a body by its name.

Search a link by its name.

std::shared_ptr< fea::ChMeshSearchMesh (const char *name)
Search a mesh by its name.

std::shared_ptr< ChPhysicsItemSearchOtherPhysicsItem (const char *name)
Search from other ChPhysics items (not bodies, links, or meshes) by name.

std::shared_ptr< ChPhysicsItemSearch (const char *name)
Search an item (body, link or other ChPhysics items) by name.

std::shared_ptr< ChMarkerSearchMarker (const char *name)
Search a marker by its name.

std::shared_ptr< ChMarkerSearchMarker (int markID)
Search a marker by its unique ID.

int GetNbodies () const
Get the number of active bodies (so, excluding those that are sleeping or are fixed to ground).

int GetNbodiesSleeping () const
Get the number of bodies that are in sleeping mode (excluding fixed bodies).

int GetNbodiesFixed () const
Get the number of bodies that are fixed to ground.

int GetNbodiesTotal () const
Get the total number of bodies added to the assembly, including the grounded and sleeping bodies.

int GetNmeshes () const
Get the number of meshes.

int GetNphysicsItems () const
Get the number of other physics items (other than bodies, links, or meshes).

int GetNcoords () const
Get the number of coordinates (considering 7 coords for rigid bodies because of the 4 dof of quaternions).

int GetNdof () const
Get the number of degrees of freedom of the assembly.

int GetNdoc () const
Get the number of scalar constraints added to the assembly, including constraints on quaternion norms.

int GetNsysvars () const
Get the number of system variables (coordinates plus the constraint multipliers, in case of quaternions).

int GetNcoords_w () const
Get the number of coordinates (considering 6 coords for rigid bodies, 3 transl.+3rot.)

int GetNdoc_w () const
Get the number of scalar constraints added to the assembly.

int GetNdoc_w_C () const
Get the number of scalar constraints added to the assembly (only bilaterals).

int GetNdoc_w_D () const
Get the number of scalar constraints added to the assembly (only unilaterals).

int GetNsysvars_w () const
Get the number of system variables (coordinates plus the constraint multipliers).

virtual void SetSystem (ChSystem *m_system) override
Set the pointer to the parent ChSystem() and also add to new collision system / remove from old coll.system.

virtual void SyncCollisionModels () override
If this physical item contains one or more collision models, synchronize their coordinates and bounding boxes to the state of the item. More...

virtual void Update (double mytime, bool update_assets=true) override
Updates all the auxiliary data and children of bodies, forces, links, given their current state. More...

virtual void SetNoSpeedNoAcceleration () override
Set zero speed (and zero accelerations) in state, without changing the position.

virtual int GetDOF () override
Get the number of scalar coordinates (ex. dim of position vector)

virtual int GetDOF_w () override
Get the number of scalar coordinates of variables derivatives (ex. dim of speed vector)

virtual int GetDOC () override
Get the number of scalar constraints, if any, in this item.

virtual int GetDOC_c () override
Get the number of scalar constraints, if any, in this item (only bilateral constr.)

virtual int GetDOC_d () override
Get the number of scalar constraints, if any, in this item (only unilateral constr.)

void ShowHierarchy (ChStreamOutAscii &m_file, int level=0)
Writes the hierarchy of contained bodies, markers, etc. More...

Public Member Functions inherited from chrono::ChPhysicsItem
ChPhysicsItem (const ChPhysicsItem &other)

ChSystemGetSystem () const
Get the pointer to the parent ChSystem()

void AddAsset (std::shared_ptr< ChAsset > masset)
Add an optional asset (it can be used to define visualization shapes, es ChSphereShape, or textures, or custom attached properties that the user can define by creating his class inherited from ChAsset)

std::vector< std::shared_ptr< ChAsset > > & GetAssets ()

std::shared_ptr< ChAssetGetAssetN (unsigned int num)
Access the Nth asset in the list of optional assets.

virtual ChFrame GetAssetsFrame (unsigned int nclone=0)
Get the master coordinate system for assets that have some geometric meaning. More...

virtual unsigned int GetAssetsFrameNclones ()
Optionally, a ChPhysicsItem can return multiple asset coordinate systems; this can be helpful if, for example, when a ChPhysicsItem contains 'clones' with the same assets (ex. More...

virtual bool GetCollide () const
Tell if the object is subject to collision. More...

If this physical item contains one or more collision models, add them to the system's collision engine. More...

virtual void RemoveCollisionModelsFromSystem ()
If this physical item contains one or more collision models, remove them from the system's collision engine. More...

virtual void GetTotalAABB (ChVector<> &bbmin, ChVector<> &bbmax)
Get the entire AABB axis-aligned bounding box of the object. More...

virtual void GetCenter (ChVector<> &mcenter)
Get a symbolic 'center' of the object. More...

virtual void StreamINstate (ChStreamInBinary &mstream)
Method to deserialize only the state (position, speed) Must be implemented by child classes. More...

virtual void StreamOUTstate (ChStreamOutBinary &mstream)
Method to serialize only the state (position, speed) Must be implemented by child classes. More...

unsigned int GetOffset_x ()
Get offset in the state vector (position part)

unsigned int GetOffset_w ()
Get offset in the state vector (speed part)

unsigned int GetOffset_L ()
Get offset in the lagrangian multipliers.

void SetOffset_x (const unsigned int moff)
Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this.

void SetOffset_w (const unsigned int moff)
Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this.

void SetOffset_L (const unsigned int moff)
Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this.

Public Member Functions inherited from chrono::ChObj
ChObj (const ChObj &other)

int GetIdentifier () const
Gets the numerical identifier of the object.

void SetIdentifier (int id)
Sets the numerical identifier of the object.

double GetChTime () const
Gets the simulation time of this object.

void SetChTime (double m_time)
Sets the simulation time of this object.

const char * GetName () const
Gets the name of the object as C Ascii null-terminated string -for reading only!

void SetName (const char myname[])
Sets the name of this object, as ascii string.

std::string GetNameString () const
Gets the name of the object as C Ascii null-terminated string.

void SetNameString (const std::string &myname)
Sets the name of this object, as std::string.

void MFlagsSetAllOFF (int &mflag)

void MFlagsSetAllON (int &mflag)

void MFlagSetON (int &mflag, int mask)

void MFlagSetOFF (int &mflag, int mask)

int MFlagGet (int &mflag, int mask)

virtual std::string & ArchiveContainerName ()

Public Member Functions inherited from chrono::ChIntegrableIIorder
virtual int GetNcoords_a ()
Return the number of acceleration coordinates of a in dy/dt={v, a} This is a default implementation that works in almost all cases, as dim(a) = dim(v),.

virtual void StateSetup (ChState &x, ChStateDelta &v, ChStateDelta &a)
Set up the system state with separate II order components x, v, a for y = {x, v} and dy/dt={v, a}.

virtual bool StateSolveA (ChStateDelta &Dvdt, ChVectorDynamic<> &L, const ChState &x, const ChStateDelta &v, const double T, const double dt, bool force_state_scatter=true)
Solve for accelerations: a = f(x,v,t) Given current state y={x,v} , computes acceleration a in the state derivative dy/dt={v,a} and lagrangian multipliers L (if any). More...

virtual int GetNcoords_y () override
Return the number of coordinates in the state Y. More...

virtual int GetNcoords_dy () override
Return the number of coordinates in the state increment. More...

virtual void StateGather (ChState &y, double &T) override
Gather system state in specified array. More...

virtual void StateScatter (const ChState &y, const double T) override
Scatter the states from the provided array to the system. More...

virtual void StateGatherDerivative (ChStateDelta &Dydt) override
Gather from the system the state derivatives in specified array. More...

virtual void StateScatterDerivative (const ChStateDelta &Dydt) override
Scatter the state derivatives from the provided array to the system. More...

virtual void StateIncrement (ChState &y_new, const ChState &y, const ChStateDelta &Dy) override
Increment state array: y_new = y + Dy. More...

virtual bool StateSolve (ChStateDelta &dydt, ChVectorDynamic<> &L, const ChState &y, const double T, const double dt, bool force_state_scatter=true) override
Solve for state derivatives: dy/dt = f(y,t). More...

virtual bool StateSolveCorrection (ChStateDelta &Dy, ChVectorDynamic<> &L, const ChVectorDynamic<> &R, const ChVectorDynamic<> &Qc, const double a, const double b, const ChState &y, const double T, const double dt, bool force_state_scatter=true, bool force_setup=true) override
This was for Ist order implicit integrators, but here we disable it.

Public Member Functions inherited from chrono::ChIntegrable
virtual void StateSetup (ChState &y, ChStateDelta &dy)
Set up the system state.

virtual void LoadResidual_Hv (ChVectorDynamic<> &R, const ChVectorDynamic<> &v, const double c)
Increment a vector R (usually the residual in a Newton Raphson iteration for solving an implicit integration step) with a term that has H multiplied a given vector w: R += c*H*w. More...

Public Attributes inherited from chrono::ChSystemParallel
ChParallelDataManagerdata_manager

Protected Member Functions inherited from chrono::ChSystem
virtual void DescriptorPrepareInject (ChSystemDescriptor &mdescriptor)
Pushes all ChConstraints and ChVariables contained in links, bodies, etc. More...

Protected Attributes inherited from chrono::ChSystemParallel
double old_timer

double old_timer_cd

int detect_optimal_bins

std::vector< double > timer_accumulator

std::vector< double > cd_accumulator

uint frame_bins

uint counter

CollisionSystemType collision_system_type

Protected Attributes inherited from chrono::ChSystem
std::vector< std::shared_ptr< ChProbe > > probelist
list of 'probes' (variable-recording objects)

std::vector< std::shared_ptr< ChControls > > controlslist
list of 'controls' script objects

std::shared_ptr< ChContactContainercontact_container
the container of contacts

ChVector G_acc
gravitational acceleration

double end_time
end of simulation

double step
time step

double step_min
min time step

double step_max
max time step

double tol
tolerance

double tol_force
tolerance for forces (used to obtain a tolerance for impulses)

int maxiter
max iterations for nonlinear convergence in DoAssembly()

bool use_sleeping
if true, put to sleep objects that come to rest

std::shared_ptr< ChSystemDescriptordescriptor
the system descriptor

std::shared_ptr< ChSolversolver_speed
the solver for speed problem

std::shared_ptr< ChSolversolver_stab
the solver for position (stabilization) problem, if any

int max_iter_solver_speed
maximum num iterations for the iterative solver

int max_iter_solver_stab
maximum num iterations for the iterative solver for constraint stabilization

int max_steps_simplex
maximum number of steps for the simplex solver.

double min_bounce_speed
minimum speed for rebounce after impacts. Lower speeds are clamped to 0

double max_penetration_recovery_speed
limit for the speed of penetration recovery (positive, speed of exiting)

size_t stepcount
internal counter for steps

int setupcount
number of calls to the solver's Setup()

int solvecount
number of StateSolveCorrection (reset to 0 at each timestep of static analysis)

bool dump_matrices
for debugging

int ncontacts
total number of contacts

std::shared_ptr< collision::ChCollisionSystemcollision_system
collision engine

std::vector< CustomCollisionCallback * > collision_callbacks

std::unique_ptr< ChMaterialCompositionStrategy< float > > composition_strategy

ChTimer< double > timer_step
material composition strategy More...

timer for time integration

ChTimer< double > timer_solver
timer for solver (excluding setup phase)

ChTimer< double > timer_setup
timer for solver setup

ChTimer< double > timer_jacobian

ChTimer< double > timer_collision
timer for collision detection

ChTimer< double > timer_update
timer for system update

std::shared_ptr< ChTimesteppertimestepper
time-stepper object

bool last_err
indicates error over the last kinematic/dynamics/statics

Protected Attributes inherited from chrono::ChAssembly
std::vector< std::shared_ptr< ChBody > > bodylist
list of rigid bodies

std::vector< std::shared_ptr< fea::ChMesh > > meshlist
list of meshes

std::vector< std::shared_ptr< ChPhysicsItem > > otherphysicslist
list of other physics objects

std::vector< std::shared_ptr< ChPhysicsItem > > batch_to_insert
list of items to insert at once

int nbodies
number of bodies (currently active)

int nmeshes
number of meshes

int nphysicsitems
number of other physics items

int ncoords
number of scalar coordinates (including 4th dimension of quaternions) for all active bodies

int ndoc
number of scalar constraints (including constr. on quaternions)

int nsysvars
number of variables (coords+lagrangian mult.), i.e. = ncoords+ndoc for all active bodies

int ncoords_w
number of scalar coordinates when using 3 rot. dof. per body; for all active bodies

int ndoc_w
number of scalar constraints when using 3 rot. dof. per body; for all active bodies

int nsysvars_w
number of variables when using 3 rot. dof. per body; i.e. = ncoords_w+ndoc_w

int ndof
number of degrees of freedom, = ncoords-ndoc = ncoords_w-ndoc_w ,

int ndoc_w_C
number of scalar constraints C, when using 3 rot. dof. per body (excluding unilaterals)

int ndoc_w_D
number of scalar constraints D, when using 3 rot. dof. per body (only unilaterals)

int nbodies_sleep
number of bodies that are sleeping

int nbodies_fixed
number of bodies that are fixed

Protected Attributes inherited from chrono::ChPhysicsItem
ChSystemsystem
parent system

std::vector< std::shared_ptr< ChAsset > > assets
set of assets

unsigned int offset_x
offset in vector of state (position part)

unsigned int offset_w
offset in vector of state (speed part)

unsigned int offset_L
offset in vector of lagrangian multipliers

Protected Attributes inherited from chrono::ChObj
double ChTime
the time of simulation for the object

## Member Function Documentation

 virtual ChMaterialSurfaceNSC::ContactMethod chrono::ChSystemParallelSMC::GetContactMethod ( ) const
overridevirtual

Return the contact method supported by this system.

Bodies added to this system must be compatible.

Implements chrono::ChSystem.

 ChBody * ChSystemParallelSMC::NewBody ( )
overridevirtual

Create and return the pointer to a new body.

The returned body is created with a contact model consistent with the type of this ChSystem and with the collision system currently associated with this ChSystem. Note that the body is not attached to this system.

Implements chrono::ChSystem.

Reimplemented in chrono::ChSystemDistributed.

 ChBodyAuxRef * ChSystemParallelSMC::NewBodyAuxRef ( )
overridevirtual

Create and return the pointer to a new body with auxiliary reference frame.

The returned body is created with a contact model consistent with the type of this ChSystem and with the collision system currently associated with this ChSystem. Note that the body is not attached to this system.

Implements chrono::ChSystem.

Reimplemented in chrono::ChSystemDistributed.

 void ChSystemParallelSMC::Setup ( )
overridevirtual

Counts the number of bodies and links.

Computes the offsets of object states in the global state. Assumes that offset_x, offset_w, and offset_L are already set as starting point for offsetting all the contained sub objects.

Reimplemented from chrono::ChSystemParallel.