chrono::ChSystemParallelNSC Class Reference

Description

Parallel systems using non-smooth contact (complementarity-based) method.

#include <ChSystemParallel.h>

Inheritance diagram for chrono::ChSystemParallelNSC:
Collaboration diagram for chrono::ChSystemParallelNSC:

Public Member Functions

 ChSystemParallelNSC (const ChSystemParallelNSC &other)
 
virtual ChSystemParallelNSCClone () const override
 "Virtual" copy constructor (covariant return type).
 
void ChangeSolverType (SolverType type)
 
void Initialize ()
 
virtual ChMaterialSurface::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
 
void Add3DOFContainer (std::shared_ptr< Ch3DOFContainer > container)
 
void CalculateContactForces () override
 Calculate cummulative contact forces for all bodies in the system. More...
 
real CalculateKineticEnergy ()
 
real CalculateDualObjective ()
 
virtual real3 GetBodyContactForce (uint body_id) const override
 Get the contact force on the body with specified id. More...
 
virtual real3 GetBodyContactTorque (uint body_id) const override
 Get the contact torque on the body with specified id. More...
 
virtual void AssembleSystem ()
 
virtual void SolveSystem ()
 
virtual real3 GetBodyContactForce (uint body_id) const=0
 Get the contact force on the body with specified id. More...
 
real3 GetBodyContactForce (std::shared_ptr< ChBody > body) const
 Get the contact force on the specified body. More...
 
virtual real3 GetBodyContactTorque (uint body_id) const=0
 Get the contact torque on the body with specified id. More...
 
real3 GetBodyContactTorque (std::shared_ptr< ChBody > body) const
 Get the contact torque on the specified body. More...
 
- 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 AddLink (std::shared_ptr< ChLinkBase > link) override
 Attach a link 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 UpdateLinks ()
 
virtual void UpdateOtherPhysics ()
 
virtual void UpdateRigidBodies ()
 
virtual void UpdateShafts ()
 
virtual void UpdateMotorLinks ()
 
virtual void Update3DOFBodies ()
 
void RecomputeThreads ()
 
virtual void Setup () override
 Counts the number of bodies and links. More...
 
virtual void ChangeCollisionSystem (CollisionSystemType type)
 
void SetMaterialCompositionStrategy (std::unique_ptr< ChMaterialCompositionStrategy< real >> &&strategy)
 Change the default composition laws for contact surface materials (coefficient of friction, cohesion, compliance, etc.).
 
virtual void PrintStepStats ()
 
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.
 
void CalculateBodyAABB ()
 Calculate current body AABBs.
 
real3 GetBodyContactForce (std::shared_ptr< ChBody > body) const
 Get the contact force on the specified body. More...
 
real3 GetBodyContactTorque (std::shared_ptr< ChBody > body) const
 Get the contact torque on the specified body. More...
 
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).
 
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).
 
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 SetMaterialCompositionStrategy (std::unique_ptr< ChMaterialCompositionStrategy< float >> &&strategy)
 Change the default composition laws for contact surface materials (coefficient of friction, cohesion, compliance, etc.)
 
const ChMaterialCompositionStrategy< float > & GetMaterialCompositionStrategy () const
 Accessor for the current composition laws for contact surface material.
 
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 SetSolver (std::shared_ptr< ChSolver > newsolver)
 Attach a solver (derived from ChSolver) for use by this system.
 
virtual std::shared_ptr< ChSolverGetSolver ()
 Access the solver currently associated with this system.
 
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.
 
void SetSolverMaxIterations (int max_iters)
 Set the maximum number of iterations, if using an iterative solver. More...
 
int GetSolverMaxIterations () const
 Get the current maximum number of iterations, if using an iterative solver. More...
 
void SetSolverTolerance (double tolerance)
 Set the solver tolerance threshold (used with iterative solvers only). More...
 
double GetSolverTolerance () const
 Get the current tolerance value (used with iterative solvers only).
 
void SetSolverForceTolerance (double tolerance)
 Set a solver tolerance threshold at force level (default: not specified). More...
 
double GetSolverForceTolerance () const
 Get the current value of the force-level tolerance (used with iterative solvers only).
 
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.
 
std::shared_ptr< ChSystemDescriptorGetSystemDescriptor ()
 Access directly the 'system descriptor'.
 
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 Clear ()
 Removes all bodies/marker/forces/links/contacts, also resets timers and events.
 
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.
 
double GetTimerCollisionBroad () const
 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.
 
void ForceUpdate ()
 In normal usage, no system update is necessary at the beginning of a new dynamics step (since an update is performed at the end of a step). 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. More...
 
virtual void IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) override
 From global acceleration vector to item's state acceleration. More...
 
virtual void IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) override
 From item's reaction forces to global reaction vector. More...
 
virtual void IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) override
 From global reaction vector to item's reaction forces. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
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: More...
 
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: More...
 
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.
 
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.
 
virtual void ConstraintsLoadJacobians () override
 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.
 
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.
 
virtual void VariablesQbLoadSpeed () override
 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.
 
int ResetAllProbes ()
 If ChProbe() objects are added to this system, using this command you force the ChProbe::Reset() on all them, at once.
 
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).
 
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).
 
bool DoEntireUniformDynamics (double frame_step)
 Like "DoEntireDynamics", but results are provided at uniform steps "frame_step", using the DoFrameDynamics() many times.
 
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.
 
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.
 
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.
 
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.
 
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.
 
virtual void RemoveLink (std::shared_ptr< ChLinkBase > link)
 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.
 
void RemoveAllLinks ()
 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< ChLinkBase > > & Get_linklist () const
 Get the list of links.
 
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.
 
std::shared_ptr< ChLinkBaseSearchLink (const char *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 GetNlinks () const
 Get the number of links.
 
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.
 
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.
 
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 ()
 Access to the list of optional assets.
 
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...
 
virtual void AddCollisionModelsToSystem ()
 If this physical item contains one or more collision models, add them to the system's collision engine.
 
virtual void RemoveCollisionModelsFromSystem ()
 If this physical item contains one or more collision models, remove them from the system's collision engine.
 
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.
 
virtual void StreamOUTstate (ChStreamOutBinary &mstream)
 Method to serialize only the state (position, speed) Must be implemented by child classes.
 
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...
 

Additional Inherited Members

- Public Attributes inherited from chrono::ChSystemParallel
ChParallelDataManagerdata_manager
 
int current_threads
 
- Protected Member Functions inherited from chrono::ChSystem
virtual void DescriptorPrepareInject (ChSystemDescriptor &mdescriptor)
 Pushes all ChConstraints and ChVariables contained in links, bodies, etc. into the system descriptor.
 
- Protected Attributes inherited from chrono::ChSystemParallel
double old_timer
 
double old_timer_cd
 
bool detect_optimal_threads
 
int detect_optimal_bins
 
std::vector< double > timer_accumulator
 
std::vector< double > cd_accumulator
 
uint frame_threads
 
uint frame_bins
 
uint counter
 
std::vector< ChLink * >::iterator it
 
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
 
bool is_initialized
 if false, an initial setup is required (i.e. a call to SetupInitial)
 
bool is_updated
 if false, a new update is required (i.e. a call to Update)
 
double end_time
 end of simulation
 
double step
 time step
 
double step_min
 min time step
 
double step_max
 max time step
 
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
 system descriptor
 
std::shared_ptr< ChSolversolver
 solver for DVI or DAE problem
 
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...
 
ChTimer< double > timer_advance
 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
 timer for computing/loading Jacobian information
 
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< ChLinkBase > > linklist
 list of joints (links)
 
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 nlinks
 number of links
 
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

◆ CalculateContactForces()

void ChSystemParallelNSC::CalculateContactForces ( )
overridevirtual

Calculate cummulative contact forces for all bodies in the system.

Note that this function must be explicitly called by the user at each time where calls to GetContactableForce or ContactableTorque are made.

Reimplemented from chrono::ChSystemParallel.

◆ GetBodyContactForce() [1/3]

real3 chrono::ChSystemParallel::GetBodyContactForce

Get the contact force on the specified body.

Note that ComputeContactForces must be called prior to calling this function at any time where reporting of contact forces is desired.

◆ GetBodyContactForce() [2/3]

real3 ChSystemParallelNSC::GetBodyContactForce ( uint  body_id) const
overridevirtual

Get the contact force on the body with specified id.

Note that ComputeContactForces must be called prior to calling this function at any time where reporting of contact forces is desired.

Implements chrono::ChSystemParallel.

◆ GetBodyContactForce() [3/3]

virtual real3 chrono::ChSystemParallel::GetBodyContactForce

Get the contact force on the body with specified id.

Note that ComputeContactForces must be called prior to calling this function at any time where reporting of contact forces is desired.

◆ GetBodyContactTorque() [1/3]

real3 chrono::ChSystemParallel::GetBodyContactTorque

Get the contact torque on the specified body.

Note that ComputeContactForces must be called prior to calling this function at any time where reporting of contact torques is desired.

◆ GetBodyContactTorque() [2/3]

real3 ChSystemParallelNSC::GetBodyContactTorque ( uint  body_id) const
overridevirtual

Get the contact torque on the body with specified id.

Note that ComputeContactForces must be called prior to calling this function at any time where reporting of contact torques is desired.

Implements chrono::ChSystemParallel.

◆ GetBodyContactTorque() [3/3]

virtual real3 chrono::ChSystemParallel::GetBodyContactTorque

Get the contact torque on the body with specified id.

Note that ComputeContactForces must be called prior to calling this function at any time where reporting of contact torques is desired.

◆ GetContactMethod()

virtual ChMaterialSurface::ContactMethod chrono::ChSystemParallelNSC::GetContactMethod ( ) const
overridevirtual

Return the contact method supported by this system.

Bodies added to this system must be compatible.

Implements chrono::ChSystem.

◆ NewBody()

ChBody * ChSystemParallelNSC::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.

◆ NewBodyAuxRef()

ChBodyAuxRef * ChSystemParallelNSC::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.