chrono::vehicle::GranularTerrain Class Reference

Description

Granular terrain model.

This class implements a rectangular patch of granular terrain with spherical particles. Boundary conditions (model of a container bin) are imposed through a custom collision detection object.

#include <GranularTerrain.h>

Inheritance diagram for chrono::vehicle::GranularTerrain:
Collaboration diagram for chrono::vehicle::GranularTerrain:

Public Member Functions

 GranularTerrain (ChSystem *system)
 Construct a default GranularTerrain. More...
 
void SetContactFrictionCoefficient (float friction_coefficient)
 Set coefficient of friction. More...
 
void SetContactRestitutionCoefficient (float restitution_coefficient)
 Set coefficient of restitution. More...
 
void SetContactCohesion (float cohesion)
 Set the cohesion constant. More...
 
void SetContactMaterialProperties (float young_modulus, float poisson_ratio)
 Set contact material properties. More...
 
void SetContactMaterialCoefficients (float kn, float gn, float kt, float gt)
 Set contact material coefficients. More...
 
void SetContactMaterialSMC (std::shared_ptr< ChMaterialSurfaceSMC > mat)
 Set contact material for SMC method.
 
void SetContactMaterialNSC (std::shared_ptr< ChMaterialSurfaceNSC > mat)
 Set contact material for NSC method.
 
void SetCollisionEnvelope (double envelope)
 Set outward collision envelope. More...
 
void SetMinNumParticles (unsigned int min_num_particles)
 Set the minimum number of particles to be generated (default: 0).
 
void EnableVerbose (bool val)
 Enable/disable verbose output (default: false).
 
void EnableRoughSurface (int num_spheres_x, int num_spheres_y)
 Enable creation of particles fixed to bottom container. More...
 
void EnableMovingPatch (std::shared_ptr< ChBody > body, double buffer_distance, double shift_distance, const ChVector<> &init_vel=ChVector<>())
 Enable moving patch and set parameters. More...
 
void SetStartIdentifier (int id)
 Set start value for body identifiers of generated particles (default: 1000000). More...
 
float GetCoefficientFriction () const
 Get coefficient of friction for contact material.
 
float GetCoefficientRestitution () const
 Get coefficient of restitution for contact material.
 
float GetCohesion () const
 Get cohesion constant.
 
float GetYoungModulus () const
 Get Young's modulus of elasticity for contact material.
 
float GetPoissonRatio () const
 Get Poisson ratio for contact material.
 
float GetKn () const
 Get normal stiffness coefficient for contact material.
 
float GetKt () const
 Get tangential stiffness coefficient for contact material.
 
float GetGn () const
 Get normal viscous damping coefficient for contact material.
 
float GetGt () const
 Get tangential viscous damping coefficient for contact material.
 
void EnableVisualization (bool val)
 Enable/disable visualization of boundaries (default: false).
 
bool IsVisualizationEnabled () const
 
void SetColor (ChColor color)
 Set boundary visualization color.
 
std::shared_ptr< ChBodyGetGroundBody ()
 Return a handle to the ground body.
 
void Initialize (const ChVector<> &center, double length, double width, unsigned int num_layers, double radius, double density, const ChVector<> &init_vel=ChVector<>())
 Initialize the granular terrain system. More...
 
virtual void Synchronize (double time) override
 Update the state of the terrain system at the specified time.
 
double GetPatchFront () const
 Get current front boundary location (in positive X direction).
 
double GetPatchRear () const
 Get current rear boundary location (in negative X direction).
 
double GetPatchLeft () const
 Get left boundary location (in positive Y direction).
 
double GetPatchRight () const
 Get right boundary location (in negative Y direction).
 
double GetPatchBottom () const
 Get bottom boundary location.
 
bool PatchMoved () const
 Report if the patch was moved during the last call to Synchronize().
 
unsigned int GetNumParticles () const
 Get the number of particles.
 
virtual double GetHeight (double x, double y) const override
 Get the terrain height at the specified (x,y) location. More...
 
virtual chrono::ChVector GetNormal (double x, double y) const override
 Get the terrain normal at the specified (x,y) location.
 
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 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.
 

Friends

class BoundaryContact
 

Additional Inherited Members

- Protected Attributes inherited from chrono::vehicle::ChTerrain
FrictionFunctorm_friction_fun
 functor for location-dependent coefficient of friction
 

Constructor & Destructor Documentation

chrono::vehicle::GranularTerrain::GranularTerrain ( ChSystem system)

Construct a default GranularTerrain.

The user is responsible for calling various Set methods before Initialize.

Parameters
[in]systempointer to the containing multibody system

Member Function Documentation

void chrono::vehicle::GranularTerrain::EnableMovingPatch ( std::shared_ptr< ChBody body,
double  buffer_distance,
double  shift_distance,
const ChVector<> &  init_vel = ChVector<>() 
)

Enable moving patch and set parameters.

Parameters
bodymonitored body
buffer_distancelook-ahead distance
shift_distancechunk size of relocated particles
init_velinitial particle velocity
void chrono::vehicle::GranularTerrain::EnableRoughSurface ( int  num_spheres_x,
int  num_spheres_y 
)

Enable creation of particles fixed to bottom container.

Parameters
num_spheres_xnumber of fixed spheres in X direction
num_spheres_ynumber of fixed spheres in Y direction
float chrono::vehicle::GranularTerrain::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 GranularTerrain, this function defers to the user-provided functor object of type ChTerrain::FrictionFunctor, if one was specified. Otherwise, it returns the constant value specified through SetContactFrictionCoefficient.

Implements chrono::vehicle::ChTerrain.

double chrono::vehicle::GranularTerrain::GetHeight ( double  x,
double  y 
) const
overridevirtual

Get the terrain height at the specified (x,y) location.

This function returns the heighest point over all granular particles.

Implements chrono::vehicle::ChTerrain.

void chrono::vehicle::GranularTerrain::Initialize ( const ChVector<> &  center,
double  length,
double  width,
unsigned int  num_layers,
double  radius,
double  density,
const ChVector<> &  init_vel = ChVector<>() 
)

Initialize the granular terrain system.

The granular material is created in successive layers within the specified volume, using the specified generator, until the number of particles exceeds the specified minimum value (see SetMinNumParticles). The initial particle locations are obtained with Poisson Disk sampling, using the given minimum separation distance.

Parameters
[in]centercenter of bottom
[in]lengthpatch dimension in X direction
[in]widthpatch dimension in Y direction
[in]num_layersnumber of layers
[in]radiusparticle radius
[in]densityparticle density
[in]init_velparticle initial velocity
void chrono::vehicle::GranularTerrain::SetCollisionEnvelope ( double  envelope)

Set outward collision envelope.

This value is used for the internal custom collision detection for imposing boundary conditions. Note that if the underlying system is of SMC type (i.e., using a penalty-based contact method), the envelope is automatically set to 0. For NSC systems (i.e., when using a complementarity-based contact method), if the envelope is not specified, the default value is 5% of the particle radius.

void chrono::vehicle::GranularTerrain::SetContactCohesion ( float  cohesion)

Set the cohesion constant.

The default value is 0.

void chrono::vehicle::GranularTerrain::SetContactFrictionCoefficient ( float  friction_coefficient)

Set coefficient of friction.

The default value is 0.9

void chrono::vehicle::GranularTerrain::SetContactMaterialCoefficients ( float  kn,
float  gn,
float  kt,
float  gt 
)

Set contact material coefficients.

These values are used directly to compute contact forces (if the containing system is so configured and if the SMC contact method is being used). The default values are: kn=2e5, gn=40, kt=2e5, gt=20

Parameters
[in]knnormal contact stiffness
[in]gnnormal contact damping
[in]kttangential contact stiffness
[in]gttangential contact damping
void chrono::vehicle::GranularTerrain::SetContactMaterialProperties ( float  young_modulus,
float  poisson_ratio 
)

Set contact material properties.

These values are used to calculate contact material coefficients (if the containing system is so configured and if the SMC contact method is being used). The default values are: Y = 2e5 and nu = 0.3

Parameters
[in]young_modulusYoung's modulus of elasticity
[in]poisson_ratioPoisson ratio
void chrono::vehicle::GranularTerrain::SetContactRestitutionCoefficient ( float  restitution_coefficient)

Set coefficient of restitution.

The default value is 0.

void chrono::vehicle::GranularTerrain::SetStartIdentifier ( int  id)

Set start value for body identifiers of generated particles (default: 1000000).

It is assumed that all bodies with a larger identifier are granular material particles.