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., ChTMeasy ChPac89, ChPac02, ChFiala).

#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 (const ChVector3d &loc) const override
	Get the terrain height below the specified location. More...

virtual ChVector3d	GetNormal (const ChVector3d &loc) const override
	Get the terrain normal at the point below the specified location. More...

virtual float	GetCoefficientFriction (const ChVector3d &loc) const override
	Get the terrain coefficient of friction at the point below the specified 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.

virtual void	GetProperties (const ChVector3d &loc, double &height, ChVector3d &normal, float &friction) const
	Get all terrain characteristics at the point below the specified location.

void	RegisterHeightFunctor (std::shared_ptr< HeightFunctor > functor)
	Specify the functor object to provide the terrain height at given locations. More...

void	RegisterNormalFunctor (std::shared_ptr< NormalFunctor > functor)
	Specify the functor object to provide the terrain normal at given locations. More...

void	RegisterFrictionFunctor (std::shared_ptr< FrictionFunctor > functor)
	Specify the functor object to provide the coefficient of friction at given locations.

Additional Inherited Members
Protected Attributes inherited from chrono::vehicle::ChTerrain
std::shared_ptr< HeightFunctor >	m_height_fun
	functor for location-dependent terrain height

std::shared_ptr< NormalFunctor >	m_normal_fun
	functor for location-dependent terrain normal

std::shared_ptr< 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 ( const ChVector3d & loc ) const

overridevirtual

Get the terrain coefficient of friction at the point below the specified 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.

Reimplemented from chrono::vehicle::ChTerrain.