chrono::ChMaterialSurfaceNSC Class Reference

Description

Material data for a surface for use with non-smooth (complementarity) contact method.

This data is used to define surface properties owned by ChBody rigid bodies and similar objects; it carries information that is used to make contacts.

#include <ChMaterialSurfaceNSC.h>

Inheritance diagram for chrono::ChMaterialSurfaceNSC:

Collaboration diagram for chrono::ChMaterialSurfaceNSC:

Public Member Functions
	ChMaterialSurfaceNSC (const ChMaterialSurfaceNSC &other)
virtual ChMaterialSurfaceNSC *	Clone () const override
	"Virtual" copy constructor (covariant return type).
virtual ContactMethod	GetContactMethod () const override
float	GetSfriction ()
	The static friction coefficient. More...
void	SetSfriction (float mval)
float	GetKfriction ()
	The sliding ('kinetic')friction coefficient. More...
void	SetKfriction (float mval)
void	SetFriction (float mval)
	Set both static friction and kinetic friction at once, with same value.
float	GetRollingFriction ()
	The rolling friction (rolling parameter, it has the dimension of a length). More...
void	SetRollingFriction (float mval)
float	GetSpinningFriction ()
	The spinning friction (it has the dimension of a length). More...
void	SetSpinningFriction (float mval)
float	GetRestitution ()
	The normal restitution coefficient, for collisions. More...
void	SetRestitution (float mval)
float	GetCohesion ()
	The cohesion max. More...
void	SetCohesion (float mval)
float	GetDampingF ()
	The damping in contact, as a factor 'f': damping is a multiple of stiffness [K], that is: [R]=f*[K] Measuring unit: time, s. More...
void	SetDampingF (float mval)
float	GetCompliance ()
	Compliance of the contact, in normal direction. More...
void	SetCompliance (float mval)
float	GetComplianceT ()
	Compliance of the contact, in tangential direction. More...
void	SetComplianceT (float mval)
float	GetComplianceRolling ()
	Rolling compliance of the contact, if using a nonzero rolling friction. More...
void	SetComplianceRolling (float mval)
float	GetComplianceSpinning ()
	Spinning compliance of the contact, if using a nonzero rolling friction. More...
void	SetComplianceSpinning (float mval)
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.

Public Attributes
float	static_friction
float	sliding_friction
float	rolling_friction
float	spinning_friction
float	restitution
float	cohesion
float	dampingf
float	compliance
float	complianceT
float	complianceRoll
float	complianceSpin

Additional Inherited Members
Public Types inherited from chrono::ChMaterialSurface
enum	ContactMethod { NSC, SMC }

Member Function Documentation

GetCohesion()

float chrono::ChMaterialSurfaceNSC::GetCohesion ( )

inline

The cohesion max.

force for normal pulling traction in contacts. Measuring unit: N Default =0.

GetCompliance()

float chrono::ChMaterialSurfaceNSC::GetCompliance ( )

inline

Compliance of the contact, in normal direction.

It is the inverse of the stiffness [K] , so for zero value one has a perfectly rigid contact. Measuring unit: m/N Default =0.

GetComplianceRolling()

float chrono::ChMaterialSurfaceNSC::GetComplianceRolling ( )

inline

Rolling compliance of the contact, if using a nonzero rolling friction.

(If there is no rolling friction, this has no effect.) Measuring unit: rad/Nm Default =0.

GetComplianceSpinning()

float chrono::ChMaterialSurfaceNSC::GetComplianceSpinning ( )

inline

Spinning compliance of the contact, if using a nonzero rolling friction.

(If there is no spinning friction, this has no effect.) Measuring unit: rad/Nm Default =0.

GetComplianceT()

float chrono::ChMaterialSurfaceNSC::GetComplianceT ( )

inline

Compliance of the contact, in tangential direction.

Measuring unit: m/N Default =0.

GetDampingF()

float chrono::ChMaterialSurfaceNSC::GetDampingF ( )

inline

The damping in contact, as a factor 'f': damping is a multiple of stiffness [K], that is: [R]=f*[K] Measuring unit: time, s.

Default =0.

GetKfriction()

float chrono::ChMaterialSurfaceNSC::GetKfriction ( )

inline

The sliding ('kinetic')friction coefficient.

Default 0.6 Usually in 0..1 range, rarely above. Note: currently the static friction will be used instead, anyway, because of an issue in the solver.

GetRestitution()

float chrono::ChMaterialSurfaceNSC::GetRestitution ( )

inline

The normal restitution coefficient, for collisions.

Should be in 0..1 range. Default =0.

GetRollingFriction()

float chrono::ChMaterialSurfaceNSC::GetRollingFriction ( )

inline

The rolling friction (rolling parameter, it has the dimension of a length).

Rolling resistant torque is Tr <= (normal force) * (this parameter) Usually a very low value. Measuring unit: m Default =0. Note! a non-zero value will make the simulation 2x slower! Also, the GPU solver currently does not support rolling friction. Default: 0.

GetSfriction()

float chrono::ChMaterialSurfaceNSC::GetSfriction ( )

inline

The static friction coefficient.

Usually in 0..1 range, rarely above. Default 0.6

GetSpinningFriction()

float chrono::ChMaterialSurfaceNSC::GetSpinningFriction ( )

inline

The spinning friction (it has the dimension of a length).

Spinning resistant torque is Ts <= (normal force) * (this parameter) Usually a very low value. Measuring unit: m Default =0. Note! a non-zero value will make the simulation 2x slower! Also, the GPU solver currently does not support spinning friction. Default: 0.

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The documentation for this class was generated from the following files:

• /builds/uwsbel/chrono/src/chrono/physics/ChMaterialSurfaceNSC.h
• /builds/uwsbel/chrono/src/chrono/physics/ChMaterialSurfaceNSC.cpp