chrono::ChMaterialSurfaceNSC Class Reference

Description

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

Notes:
  • Rolling friction Rolling resistant torque is Tr <= (normal force) * (rolling friction parameter) The rolling friction parameter is usually a very low value. Measuring unit: m. A non-zero value will make the simulation 2x slower!
  • Spinning friction Spinning resistant torque is Ts <= (normal force) * (spinning friction parameter) The spinning friction parameter is usually a very low value. Measuring unit: m. A non-zero value will make the simulation 2x slower!

#include <ChMaterialSurfaceNSC.h>

Inheritance diagram for chrono::ChMaterialSurfaceNSC:
Collaboration diagram for chrono::ChMaterialSurfaceNSC:

Public Member Functions

 ChMaterialSurfaceNSC (const ChMaterialSurfaceNSC &other)
 
virtual ChMaterialSurfaceNSCClone () const override
 "Virtual" copy constructor (covariant return type).
 
virtual ChContactMethod GetContactMethod () const override
 
float GetCohesion ()
 The cohesion max. force for normal pulling traction in contacts. Measuring unit: N. Default 0.
 
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 Member Functions inherited from chrono::ChMaterialSurface
void SetSfriction (float val)
 Static sliding friction coefficient. More...
 
float GetSfriction () const
 
void SetKfriction (float val)
 Kinetic sliding friction coefficient.
 
float GetKfriction () const
 
void SetFriction (float val)
 Set both static friction and kinetic friction at once, with same value.
 
void SetRollingFriction (float val)
 Rolling friction coefficient. Usually around 1E-3. Default 0.
 
float GetRollingFriction () const
 
void SetSpinningFriction (float val)
 Spinning friction coefficient. Usually around 1E-3. Default 0.
 
float GetSpinningFriction () const
 
void SetRestitution (float val)
 Normal coefficient of restitution. In the range [0,1]. Default 0.
 
float GetRestitution () const
 

Public Attributes

float cohesion
 
float dampingf
 
float compliance
 
float complianceT
 
float complianceRoll
 
float complianceSpin
 
- Public Attributes inherited from chrono::ChMaterialSurface
float static_friction
 Static coefficient of friction.
 
float sliding_friction
 Kinetic coefficient of friction.
 
float rolling_friction
 Rolling coefficient of friction.
 
float spinning_friction
 Spinning coefficient of friction.
 
float restitution
 Coefficient of restitution.
 

Additional Inherited Members

- Static Public Member Functions inherited from chrono::ChMaterialSurface
static std::shared_ptr< ChMaterialSurfaceDefaultMaterial (ChContactMethod contact_method)
 Construct and return a contact material of the specified type with default properties.
 
- Protected Member Functions inherited from chrono::ChMaterialSurface
 ChMaterialSurface (const ChMaterialSurface &other)
 

Member Function Documentation

◆ 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.


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