Description

Concrete class for a flat horizontal terrain.

This class implements a terrain modeled as an infinite horizontal plane at a specified height. This type of terrain can be used in conjunction with tire models that perform their own collision detection (e.g. ChPacejkaTire, ChFiala, and ChLugreTire).

#include <FlatTerrain.h>

Inheritance diagram for chrono::vehicle::FlatTerrain:

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Collaboration diagram for chrono::vehicle::FlatTerrain:

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Public Member Functions
	FlatTerrain (double height, float friction=0.8f)

virtual double	GetHeight (double x, double y) const override
	Get the terrain height at the specified (x,y) location. More...

virtual ChVector	GetNormal (double x, double y) const override
	Get the terrain normal at the specified (x,y) location. More...

virtual float	GetCoefficientFriction (double x, double y) const override
	Get the terrain coefficient of friction at the specified (x,y) location. More...

Public Member Functions inherited from chrono::vehicle::ChTerrain
virtual void	Synchronize (double time)
	Update the state of the terrain system at the specified time.

virtual void	Advance (double step)
	Advance the state of the terrain system by the specified duration.

void	RegisterFrictionFunctor (FrictionFunctor *functor)
	Specify the functor object to provide the coefficient of friction at given (x,y) locations.

Additional Inherited Members
Protected Attributes inherited from chrono::vehicle::ChTerrain
FrictionFunctor *	m_friction_fun
	functor for location-dependent coefficient of friction

Constructor & Destructor Documentation

◆ FlatTerrain()

chrono::vehicle::FlatTerrain::FlatTerrain	(	double	height,
		float	friction = `0.8f`
	)

Parameters

[in]	height	terrain height
[in]	friction	terrain coefficient of friction

Member Function Documentation

◆ GetCoefficientFriction()

float chrono::vehicle::FlatTerrain::GetCoefficientFriction	(	double	x,
		double	y
	)		const

overridevirtual

Get the terrain coefficient of friction at the specified (x,y) location.

This coefficient of friction value may be used by certain tire models to modify the tire characteristics, but it will have no effect on the interaction of the terrain with other objects (including tire models that do not explicitly use it). For FlatTerrain, this function defers to the user-provided functor object of type ChTerrain::FrictionFunctor, if one was specified. Otherwise, it returns the constant value specified at construction.

Implements chrono::vehicle::ChTerrain.