Description

Chrono Simulation System.

This class is the main simulation object used to collect:

the simulation model itself, through the ChAssembly object;
the solver and the timestepper;
the collision system;
system-wise parameters (time, gravitational acceleration, etc.)
counters and timers; as well as other secondary features.

This class is in charge of managing dynamic, kinematic and static simulations.

Consult the Simulation system manual page for additional details.

#include <ChSystem.h>

Inheritance diagram for chrono::ChSystem:

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Collaboration diagram for chrono::ChSystem:

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Classes
class	CustomCollisionCallback
	Class to be used as a callback interface for user defined actions performed at each collision detection step. More...

Public Member Functions
	ChSystem ()
	Create a physical system.

	ChSystem (const ChSystem &other)
	Copy constructor.

virtual	~ChSystem ()
	Destructor.

virtual ChSystem *	Clone () const =0
	"Virtual" copy constructor. More...

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 > stepper)
	Set the timestepper object to be used for time integration.

std::shared_ptr< ChTimestepper >	GetTimestepper () const
	Get the timestepper currently used for time integration.

virtual void	SetCollisionSystemType (ChCollisionSystem::Type type)
	Set the collision detection system used by this Chrono system to the specified type.

virtual void	SetCollisionSystem (std::shared_ptr< ChCollisionSystem > coll_system)
	Set the collision detection system used by this Chrono system.

std::shared_ptr< ChCollisionSystem >	GetCollisionSystem () const
	Access the underlying collision system. More...

virtual void	SetMaterialCompositionStrategy (std::unique_ptr< ChContactMaterialCompositionStrategy > &&strategy)
	Change the default composition laws for contact surface materials (coefficient of friction, cohesion, compliance, etc.)

const ChContactMaterialCompositionStrategy &	GetMaterialCompositionStrategy () const
	Accessor for the current composition laws for contact surface material.

void	SetMaxPenetrationRecoverySpeed (double value)
	Set the speed limit of exiting from penetration situations (default: 0.6). More...

virtual void	SetSolver (std::shared_ptr< ChSolver > newsolver)
	Attach a solver (derived from ChSolver) for use by this system. More...

virtual std::shared_ptr< ChSolver >	GetSolver ()
	Access the solver currently associated with this system.

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.) Notes: More...

ChSolver::Type	GetSolverType () const
	Gets the current solver type.

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< ChSystemDescriptor >	GetSystemDescriptor ()
	Access directly the 'system descriptor'.

void	SetGravitationalAcceleration (const ChVector3d &gacc)
	Set the gravitational acceleration vector.

const ChVector3d &	GetGravitationalAcceleration () const
	Get the gravitatoinal acceleration vector.

double	GetChTime () const
	Get the simulation time of this system.

void	SetChTime (double time)
	Set (overwrite) the simulation time of this system.

double	GetStep () const
	Gets the current time step used for integration (dynamic and kinematic simulation). More...

size_t	GetNumSteps () const
	Return the total number of time steps taken so far.

void	ResetNumSteps ()
	Reset to 0 the total number of time steps.

int	DoStepDynamics (double step_size)
	Advance the dynamics simulation by a single time step of given length. More...

bool	DoFrameDynamics (double frame_time, double step_size)
	Advance the dynamics simulation until the specified frame end time is reached. More...

bool	DoStepKinematics (double step_size)
	Advance the kinematics simulation for a single step of given length.

bool	DoFrameKinematics (double frame_time, double step_size)
	Advance the kinematics simulation to the specified frame end time. More...

bool	DoStaticAnalysis (ChStaticAnalysis &analysis)
	Perform a generic static analysis.

bool	DoStaticLinear ()
	Solve the position of static equilibrium (and the reactions). More...

bool	DoStaticNonlinear (int nsteps=10, bool verbose=false)
	Solve the position of static equilibrium (and the reactions). More...

bool	DoStaticNonlinearRheonomic (int max_num_iterations=10, bool verbose=false, std::shared_ptr< ChStaticNonLinearRheonomicAnalysis::IterationCallback > callback=nullptr)
	Solve the position of static equilibrium (and the reactions). More...

bool	DoStaticRelaxing (double step_size, int num_iterations=10)
	Find the static equilibrium configuration (and the reactions) starting from the current position. More...

unsigned int	GetSolverSolveCount () const
	Return the number of calls to the solver's Solve() function. More...

unsigned int	GetSolverSetupCount () const
	Return the number of calls to the solver's Setup() function. More...

bool	DoAssembly (int action, int max_num_iterations=6)
	Perform a system assembly analysis. More...

unsigned int	RemoveRedundantConstraints (bool remove_links=false, double qr_tol=1e-6, bool verbose=false)
	Remove redundant constraints through QR decomposition of the constraints Jacobian matrix. More...

virtual void	SetNumThreads (int num_threads_chrono, int num_threads_collision=0, int num_threads_eigen=0)
	Set the number of OpenMP threads used by Chrono itself, Eigen, and the collision detection system. More...

unsigned int	GetNumThreadsChrono () const

unsigned int	GetNumThreadsCollision () const

unsigned int	GetNumThreadsEigen () const

const ChAssembly &	GetAssembly () const
	Get the underlying assembly containing all physics items.

virtual void	AddBody (std::shared_ptr< ChBody > body)
	Attach a body to the underlying assembly.

virtual void	AddShaft (std::shared_ptr< ChShaft > shaft)
	Attach a shaft to the underlying assembly.

virtual void	AddLink (std::shared_ptr< ChLinkBase > link)
	Attach a link to the underlying assembly.

virtual void	AddMesh (std::shared_ptr< fea::ChMesh > mesh)
	Attach a mesh to the underlying assembly.

virtual void	AddOtherPhysicsItem (std::shared_ptr< ChPhysicsItem > item)
	Attach a ChPhysicsItem object that is not a body, link, or mesh.

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	RemoveShaft (std::shared_ptr< ChShaft > shaft)
	Remove a shaft 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 underlying assembly.

void	RemoveAllBodies ()
	Remove all bodies from the underlying assembly.

void	RemoveAllShafts ()
	Remove all shafts from the underlying assembly.

void	RemoveAllLinks ()
	Remove all links from the underlying assembly.

void	RemoveAllMeshes ()
	Remove all meshes from the underlying assembly.

void	RemoveAllOtherPhysicsItems ()
	Remove all physics items not in the body, link, or mesh lists.

const std::vector< std::shared_ptr< ChBody > > &	GetBodies () const
	Get the list of bodies.

const std::vector< std::shared_ptr< ChShaft > > &	GetShafts () const
	Get the list of shafts.

const std::vector< std::shared_ptr< ChLinkBase > > &	GetLinks () const
	Get the list of links.

const std::vector< std::shared_ptr< fea::ChMesh > > &	GetMeshes () const
	Get the list of meshes.

const std::vector< std::shared_ptr< ChPhysicsItem > > &	GetOtherPhysicsItems () const
	Get the list of physics items that are not in the body or link lists.

std::shared_ptr< ChBody >	SearchBody (const std::string &name) const
	Search a body by its name.

std::shared_ptr< ChBody >	SearchBodyID (int id) const
	Search a body by its ID.

std::shared_ptr< ChShaft >	SearchShaft (const std::string &name) const
	Search a shaft by its name.

std::shared_ptr< ChLinkBase >	SearchLink (const std::string &name) const
	Search a link by its name.

std::shared_ptr< fea::ChMesh >	SearchMesh (const std::string &name) const
	Search a mesh by its name.

std::shared_ptr< ChPhysicsItem >	SearchOtherPhysicsItem (const std::string &name) const
	Search from other ChPhysics items (not bodies, links, or meshes) by name.

std::shared_ptr< ChMarker >	SearchMarker (const std::string &name) const
	Search a marker by its name.

std::shared_ptr< ChMarker >	SearchMarker (int id) const
	Search a marker by its unique ID.

std::shared_ptr< ChPhysicsItem >	Search (const std::string &name) const
	Search an item (body, link or other ChPhysics items) by name.

virtual unsigned int	GetNumBodies () const
	Get the total number of bodies added to the system, including fixed and sleeping bodies.

virtual unsigned int	GetNumBodiesActive () const
	Get the number of active bodies, excluding sleeping or fixed.

virtual unsigned int	GetNumBodiesSleeping () const
	Get the number of sleeping bodies.

virtual unsigned int	GetNumBodiesFixed () const
	Get the number of bodies fixed to ground.

virtual unsigned int	GetNumShafts () const
	Get the number of shafts.

virtual unsigned int	GetNumShaftsSleeping () const
	Get the number of shafts that are in sleeping mode (excluding fixed shafts).

virtual unsigned int	GetNumShaftsFixed () const
	Get the number of shafts that are fixed to ground.

virtual unsigned int	GetNumShaftsTotal () const
	Get the total number of shafts added to the assembly, including the grounded and sleeping shafts.

virtual unsigned int	GetNumLinks () const
	Get the number of links (including non active).

virtual unsigned int	GetNumLinksActive () const
	Get the number of active links.

virtual unsigned int	GetNumMeshes () const
	Get the number of meshes.

virtual unsigned int	GetNumOtherPhysicsItems () const
	Get the number of other physics items (including non active).

virtual unsigned int	GetNumOtherPhysicsItemsActive () const
	Get the number of other active physics items.

void	ShowHierarchy (std::ostream &m_file, int level=0) const
	Write the hierarchy of contained bodies, markers, etc. More...

void	Clear ()
	Removes all bodies/marker/forces/links/contacts, also resets timers and events.

virtual ChContactMethod	GetContactMethod () const =0
	Return the contact method supported by this system. More...

virtual void	CustomEndOfStep ()
	Executes custom processing at the end of step. More...

double	ComputeCollisions ()
	Perform the collision detection. More...

void	RegisterCustomCollisionCallback (std::shared_ptr< CustomCollisionCallback > callback)
	Specify a callback object to be invoked at each collision detection step. More...

void	UnregisterCustomCollisionCallback (std::shared_ptr< CustomCollisionCallback > callback)
	Remove the given collision callback from this system.

virtual void	SetContactContainer (std::shared_ptr< ChContactContainer > container)
	Change the underlying contact container. More...

std::shared_ptr< ChContactContainer >	GetContactContainer () const
	Access the underlying contact container. More...

void	SetSleepingAllowed (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	IsSleepingAllowed () const
	Tell if the system will put to sleep the bodies whose motion has almost come to a rest.

ChVisualSystem *	GetVisualSystem () const
	Get the visual system to which this ChSystem is attached (if any).

virtual unsigned int	GetNumContacts ()
	Gets the number of contacts.

virtual double	GetTimerStep () const
	Return the time (in seconds) spent for computing the time step.

virtual double	GetTimerAdvance () const
	Return the time (in seconds) for time integration, within the time step.

virtual double	GetTimerLSsolve () const
	Return the time (in seconds) for the solver, within the time step. More...

virtual double	GetTimerLSsetup () const
	Return the time (in seconds) for the solver Setup phase, within the time step.

virtual double	GetTimerJacobian () const
	Return the time (in seconds) for calculating/loading Jacobian information, within the time step.

virtual double	GetTimerCollision () const
	Return the time (in seconds) for runnning the collision detection step, within the time step.

virtual double	GetTimerSetup () const
	Return the time (in seconds) for system setup, within the time step.

virtual double	GetTimerUpdate () const
	Return the time (in seconds) for updating auxiliary data, within the time step.

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.

double	GetRTF () const
	Get current estimated RTF (real time factor). More...

void	SetRTF (double rtf)
	Set (overwrite) the RTF value for this system (if calculated externally).

void	ResetTimers ()
	Resets the timers.

void	EnableSolverMatrixWrite (bool val, const std::string &out_dir=".")
	DEBUGGING. More...

bool	IsSolverMatrixWriteEnabled () const
	Return true if solver matrices are being written to disk.

void	WriteSystemMatrices (bool save_M, bool save_K, bool save_R, bool save_Cq, const std::string &path, bool one_indexed=true)
	Write the mass (M), damping (R), stiffness (K), and constraint Jacobian (Cq) matrices at current configuration. More...

void	GetMassMatrix (ChSparseMatrix &M)
	Compute the system-level mass matrix and load in the provided sparse matrix.

void	GetStiffnessMatrix (ChSparseMatrix &K)
	Compute the system-level stiffness matrix and load in the provided sparse matrix. More...

void	GetDampingMatrix (ChSparseMatrix &R)
	Compute the system-level damping matrix and load in the provided sparse matrix. More...

void	GetConstraintJacobianMatrix (ChSparseMatrix &Cq)
	Compute the system-level constraint Jacobian matrix and load in the provided sparse matrix. More...

virtual void	ArchiveOut (ChArchiveOut &archive_out)
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIn (ChArchiveIn &archive_in)
	Method to allow deserialization of transient data from archives.

virtual void	Setup ()
	Counts the number of bodies and links. More...

void	Update (double mytime, bool update_assets=true)
	Updates all the auxiliary data and children of bodies, forces, links, given their current state.

void	Update (bool update_assets=true)
	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...

void	IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc)

void	IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L)

void	InjectVariables (ChSystemDescriptor &sys_descriptor)
	Register with the given system descriptor all ChVariable objects associated with items in the system.

void	InjectConstraints (ChSystemDescriptor &sys_descriptor)
	Register with the given system descriptor any ChConstraint objects associated with items in the system.

void	LoadConstraintJacobians ()
	Compute and load current Jacobians in encapsulated ChConstraint objects.

void	InjectKRMMatrices (ChSystemDescriptor &sys_descriptor)
	Register with the given system descriptor any ChKRMBlock objects associated with items in the system.

void	LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor)
	Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. More...

void	VariablesFbReset ()

void	VariablesFbLoadForces (double factor=1)

void	VariablesQbLoadSpeed ()

void	VariablesFbIncrementMq ()

void	VariablesQbSetSpeed (double step=0)

void	VariablesQbIncrementPosition (double step)

void	ConstraintsBiReset ()

void	ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false)

void	ConstraintsBiLoad_Ct (double factor=1)

void	ConstraintsBiLoad_Qc (double factor=1)

void	ConstraintsFbLoadForces (double factor=1)

void	ConstraintsFetch_react (double factor=1)

virtual unsigned int	GetNumCoordsPosLevel () override
	Get the number of coordinates at the position level. More...

virtual unsigned int	GetNumCoordsVelLevel () override
	Get the number of coordinates at the velocity level. More...

virtual unsigned int	GetNumConstraints () override
	Get the number of scalar constraints in the system.

virtual unsigned int	GetNumConstraintsBilateral ()
	Get the number of bilateral scalar constraints.

virtual unsigned int	GetNumConstraintsUnilateral ()
	Get the number of unilateral scalar 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, bool full_update) override
	From state Y={x,v} to system. This also triggers an update operation.

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}. More...

virtual bool	StateSolveCorrection (ChStateDelta &Dv, ChVectorDynamic<> &DL, 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, bool full_update, bool force_setup) override
	Assuming a DAE of the form. More...

virtual void	LoadResidual_F (ChVectorDynamic<> &R, const double c) override
	Increment a vector R with the term cF: R += cF. 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 += cMw. More...

virtual void	LoadLumpedMass_Md (ChVectorDynamic<> &Md, double &err, const double c) override
	Adds the lumped mass to a Md vector, representing a mass diagonal matrix. More...

virtual void	LoadResidual_CqL (ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) override
	Increment a vectorR with the term Cq'L: R += cCq'*L. More...

virtual void	LoadConstraint_C (ChVectorDynamic<> &Qc, const double c, const bool do_clamp=false, const double clamp=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...

Public Member Functions inherited from chrono::ChIntegrableIIorder
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, bool full_update, ChLumpingParms *lumping=nullptr)
	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 void	StateGather (ChState &y, double &T) override
	Gather system state in specified array. More...

virtual void	StateScatter (const ChState &y, const double T, bool full_update) 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, bool full_update, ChLumpingParms *lumping=nullptr) 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, bool full_update, bool force_setup) override final
	Override of method for Ist order implicit integrators. More...

Public Member Functions inherited from chrono::ChIntegrable
virtual unsigned int	GetNumCoordsAccLevel ()
	Return the number of coordinates at the acceleration level.

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 += cHw. More...

Protected Member Functions
virtual void	DescriptorPrepareInject (ChSystemDescriptor &sys_descriptor)
	Pushes all ChConstraints and ChVariables contained in links, bodies, etc. into the system descriptor.

void	Initialize ()
	Initial system setup before analysis. More...

virtual ChVector3d	GetBodyAppliedForce (ChBody *body)
	Return the resultant applied force on the specified body. More...

virtual ChVector3d	GetBodyAppliedTorque (ChBody *body)
	Return the resultant applied torque on the specified body. More...

bool	ManageSleepingBodies ()
	Put bodies to sleep if possible. More...

virtual bool	AdvanceDynamics ()
	Performs a single dynamics simulation step, advancing the system state by the current step size.

Protected Attributes
ChAssembly	assembly
	underlying mechanical assembly

std::shared_ptr< ChContactContainer >	contact_container
	the container of contacts

ChVector3d	G_acc
	gravitational acceleration

bool	is_initialized
	if false, an initial setup is required (i.e. a call to Initialize)

bool	is_updated
	if false, a new update is required (i.e. a call to Update)

unsigned int	m_num_coords_pos
	num of scalar coordinates at position level for all active bodies

unsigned int	m_num_coords_vel
	num of scalar coordinates at velocity level for all active bodies

unsigned int	m_num_constr
	num of scalar constraints (at velocity level) for all active constraints

unsigned int	m_num_constr_bil
	num of scalar bilateral active constraints (velocity level)

unsigned int	m_num_constr_uni
	num of scalar unilateral active constraints (velocity level)

double	ch_time
	simulation time of the system

double	step
	time step

bool	use_sleeping
	if true, put to sleep objects that come to rest

std::shared_ptr< ChSystemDescriptor >	descriptor
	system descriptor

std::shared_ptr< ChSolver >	solver
	solver for DVI or DAE problem

double	max_penetration_recovery_speed
	limit for speed of penetration recovery (positive)

size_t	stepcount
	internal counter for steps

unsigned int	setupcount
	number of calls to the solver's Setup()

unsigned int	solvecount
	number of StateSolveCorrection (reset to 0 at each timestep of static analysis)

bool	write_matrix
	write current system matrix to file(s); for debugging

std::string	output_dir
	output directory for writing system matrices

unsigned int	ncontacts
	total number of contacts

std::shared_ptr< ChCollisionSystem >	collision_system
	collision engine

std::vector< std::shared_ptr< CustomCollisionCallback > >	collision_callbacks
	user-defined collision callbacks

std::unique_ptr< ChContactMaterialCompositionStrategy >	composition_strategy

ChVisualSystem *	visual_system
	material composition strategy More...

int	nthreads_chrono

int	nthreads_eigen

int	nthreads_collision

ChTimer	timer_step
	timer for integration step

ChTimer	timer_advance
	timer for time integration

ChTimer	timer_ls_solve
	timer for solver (excluding setup phase)

ChTimer	timer_ls_setup
	timer for solver setup

ChTimer	timer_jacobian
	timer for computing/loading Jacobian information

ChTimer	timer_collision
	timer for collision detection

ChTimer	timer_setup
	timer for system setup

ChTimer	timer_update
	timer for system update

double	m_RTF
	real-time factor (simulation time / simulated time)

std::shared_ptr< ChTimestepper >	timestepper
	time-stepper object

ChVectorDynamic	applied_forces
	system-wide vector of applied forces (lazy evaluation)

bool	applied_forces_current
	indicates if system-wide vector of forces is up-to-date

Friends
class	ChAssembly

class	ChBody

class	fea::ChMesh

class	ChContactContainerNSC

class	ChContactContainerSMC

class	ChVisualSystem

class	ChCollisionSystem

class	modal::ChModalAssembly

Member Function Documentation

◆ Add()

void chrono::ChSystem::Add ( std::shared_ptr< ChPhysicsItem > item )

Attach an arbitrary ChPhysicsItem (e.g.

ChBody, ChParticles, ChLink, etc.) to the assembly. It will take care of adding it to the proper list of bodies, links, meshes, or generic physic item. (i.e. it calls AddBody, AddShaft(), AddLink(), AddMesh(), or AddOtherPhysicsItem()). Note, you cannot call Add() during an Update (i.e. items like particle generators that are already inserted in the assembly cannot call this) because not thread safe; instead, use AddBatch().

◆ AddBatch()

void chrono::ChSystem::AddBatch ( std::shared_ptr< ChPhysicsItem > item )

inline

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.

This is thread safe.

◆ Clone()

virtual ChSystem* chrono::ChSystem::Clone ( ) const

pure virtual

"Virtual" copy constructor.

Concrete derived classes must implement this.

Implemented in chrono::ChSystemMulticoreSMC, chrono::ChSystemMulticoreNSC, chrono::ChSystemSMC, and chrono::ChSystemNSC.

◆ ComputeCollisions()

double chrono::ChSystem::ComputeCollisions ( )

Perform the collision detection.

New contacts are inserted in the ChContactContainer object(s), and old ones are removed. This is mostly called automatically by time integration.

◆ CustomEndOfStep()

virtual void chrono::ChSystem::CustomEndOfStep ( )

inlinevirtual

Executes custom processing at the end of step.

By default it does nothing, but if you inherit a special ChSystem you can implement this.

◆ DoAssembly()

bool chrono::ChSystem::DoAssembly	(	int	action,
		int	max_num_iterations = `6`
	)

Perform a system assembly analysis.

Assembly is performed by satisfying constraints at position, velocity, and acceleration levels. Position level assembly requires a non-linear problem solve. Assembly at velocity level is performed by taking a small integration step. Consistent accelerations are obtained through finite differencing. Action can be one of AssemblyLevel enum values (POSITION, VELOCITY, ACCELERATION, or FULL). These values can also be combined using bit operations. Returns true if no errors and false if an error occurred (impossible assembly?)

◆ DoFrameDynamics()

bool chrono::ChSystem::DoFrameDynamics	(	double	frame_time,
		double	step_size
	)

Advance the dynamics simulation until the specified frame end time is reached.

Integration proceeds with the specified time step size which may be adjusted to exactly reach the frame time.

◆ DoFrameKinematics()

bool chrono::ChSystem::DoFrameKinematics	(	double	frame_time,
		double	step_size
	)

Advance the kinematics simulation to the specified frame end time.

A system assembly analysis (inverse kinematics) is performed at step_size intervals. The last step may be adjusted to exactly reach the frame end time.

◆ DoStaticLinear()

bool chrono::ChSystem::DoStaticLinear ( )

Solve the position of static equilibrium (and the reactions).

This is a one-step only approach that solves the linear equilibrium. Appropriate mostly for FEM problems with small deformations.

◆ DoStaticNonlinear()

bool chrono::ChSystem::DoStaticNonlinear	(	int	nsteps = `10`,
		bool	verbose = `false`
	)

Solve the position of static equilibrium (and the reactions).

This function solves the equilibrium for the nonlinear problem (large displacements). This version uses a nonlinear static analysis solver with default parameters.

◆ DoStaticNonlinearRheonomic()

bool chrono::ChSystem::DoStaticNonlinearRheonomic	(	int	max_num_iterations = `10`,
		bool	verbose = `false`,
		std::shared_ptr< ChStaticNonLinearRheonomicAnalysis::IterationCallback >	callback = `nullptr`
	)

Solve the position of static equilibrium (and the reactions).

This function solves the equilibrium for the nonlinear problem (large displacements), but differently from DoStaticNonlinear it considers rheonomic constraints (ex. ChLinkMotorRotationSpeed) that can impose steady-state speeds&accelerations to the mechanism, ex. to generate centrifugal forces in turbine blades. This version uses a nonlinear static analysis solver with default parameters.

◆ DoStaticRelaxing()

bool chrono::ChSystem::DoStaticRelaxing	(	double	step_size,
		int	num_iterations = `10`
	)

Find the static equilibrium configuration (and the reactions) starting from the current position.

Since a truncated iterative method is used, you may need to call this method multiple times in case of large nonlinearities before coming to the precise static solution.

◆ DoStepDynamics()

int chrono::ChSystem::DoStepDynamics ( double step_size )

Advance the dynamics simulation by a single time step of given length.

This function is typically called many times in a loop in order to simulate up to a desired end time.

◆ EnableSolverMatrixWrite()

void chrono::ChSystem::EnableSolverMatrixWrite	(	bool	val,
		const std::string &	out_dir = `"."`
	)

DEBUGGING.

Enable/disable debug output of system matrices. Set this to "true" to enable automatic saving of solver matrices at each time step, for debugging purposes. Matrices will be saved in 'out_dir' (default to the the working directory of the executable). The name pattern is solve_numstep_numsubstep_objectname.dat where 'objectname' can be either:

Z: the assembled optimization matrix [H, -Cq'; Cq, -E]
rhs: the assembled right-hand side vector [f; -b]
x_pre: the position vector before the integration step
v_pre: the velocity vector before the integration step
F_pre: unscaled loads before the integration step
Dv: the state variation
Dl: the lagrangian multipliers variation if the solver is direct then also the following are output:
f, b: subparts of 'rhs'
H, Cq, E: the submatrices of Z as passed to the solver in the problem
```
| H  Cq'|*| q|-| f|=|0|
| Cq  E | |-l| |-b| |c|
```
where l \(\in Y, c \in Ny\), normal cone to Y

◆ FlushBatch()

void chrono::ChSystem::FlushBatch ( )

inline

If some items are queued for addition in the assembly, using AddBatch(), this will effectively add them and clean the batch.

Called automatically at each Setup().

◆ ForceUpdate()

void chrono::ChSystem::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).

However, this is not the case if external changes to the system are made. Most such changes are discovered automatically (addition/removal of items, input of mesh loads). For special cases, this function allows the user to trigger a system update at the beginning of the step immediately following this call.

◆ GetBodyAppliedForce()

ChVector3d chrono::ChSystem::GetBodyAppliedForce ( ChBody * body )

protectedvirtual

Return the resultant applied force on the specified body.

This resultant force includes all external applied loads acting on the body (from gravity, loads, springs, etc). However, this does not include any constraint forces. In particular, contact forces are not included if using the NSC formulation, but are included when using the SMC formulation.

Reimplemented in chrono::ChSystemMulticore.

◆ GetBodyAppliedTorque()

ChVector3d chrono::ChSystem::GetBodyAppliedTorque ( ChBody * body )

protectedvirtual

Return the resultant applied torque on the specified body.

This resultant torque includes all external applied loads acting on the body (from gravity, loads, springs, etc). However, this does not include any constraint forces. In particular, contact torques are not included if using the NSC formulation, but are included when using the SMC formulation.

Reimplemented in chrono::ChSystemMulticore.

◆ GetCollisionSystem()

std::shared_ptr<ChCollisionSystem> chrono::ChSystem::GetCollisionSystem ( ) const

inline

Access the underlying collision system.

Usually this is not needed, as the collision system is automatically handled by the ChSystem.

◆ GetConstraintJacobianMatrix()

void chrono::ChSystem::GetConstraintJacobianMatrix ( ChSparseMatrix & Cq )

Compute the system-level constraint Jacobian matrix and load in the provided sparse matrix.

This is the Jacobian Cq=-dC/dq, where C are constraints (the lower left part of the KKT matrix).

◆ GetContactContainer()

std::shared_ptr<ChContactContainer> chrono::ChSystem::GetContactContainer ( ) const

inline

Access the underlying contact container.

Usually this is not needed, as the contact container is automatically handled by the ChSystem.

◆ GetContactMethod()

virtual ChContactMethod chrono::ChSystem::GetContactMethod ( ) const

pure virtual

Return the contact method supported by this system.

Contactables (bodies, FEA nodes, FEA traiangles, etc.) added to this system must be compatible.

Implemented in chrono::ChSystemNSC, chrono::ChSystemMulticoreSMC, chrono::ChSystemMulticoreNSC, and chrono::ChSystemSMC.

◆ GetDampingMatrix()

void chrono::ChSystem::GetDampingMatrix ( ChSparseMatrix & R )

Compute the system-level damping matrix and load in the provided sparse matrix.

This is the Jacobian -dF/dv, where F are stiff loads. Note that not all loads provide a Jacobian, as this is optional in their implementation.

◆ GetNumCoordsPosLevel()

virtual unsigned int chrono::ChSystem::GetNumCoordsPosLevel ( )

inlineoverridevirtual

Get the number of coordinates at the position level.

Might differ from coordinates at the velocity level if quaternions are used for rotations.

Implements chrono::ChIntegrable.

◆ GetNumCoordsVelLevel()

virtual unsigned int chrono::ChSystem::GetNumCoordsVelLevel ( )

inlineoverridevirtual

Get the number of coordinates at the velocity level.

Might differ from coordinates at the position level if quaternions are used for rotations.

Implements chrono::ChIntegrable.

◆ GetRTF()

double chrono::ChSystem::GetRTF ( ) const

inline

Get current estimated RTF (real time factor).

This represents the real time factor for advancing the dynamic state of the system only and as such does not take into account any other operations performed during a step (e.g., run-time visualization). During each call to DoStepDynamics(), this value is calculated as T/step_size, where T includes the time spent in system setup, collision detection, and integration.

◆ GetSolverSetupCount()

unsigned int chrono::ChSystem::GetSolverSetupCount ( ) const

inline

Return the number of calls to the solver's Setup() function.

This counter is reset at each timestep.

◆ GetSolverSolveCount()

unsigned int chrono::ChSystem::GetSolverSolveCount ( ) const

inline

Return the number of calls to the solver's Solve() function.

This counter is reset at each timestep.

◆ GetStep()

double chrono::ChSystem::GetStep ( ) const

inline

Gets the current time step used for integration (dynamic and kinematic simulation).

The value is set automatically when a dynamic or kinematic simulation is run.

◆ GetStiffnessMatrix()

void chrono::ChSystem::GetStiffnessMatrix ( ChSparseMatrix & K )

Compute the system-level stiffness matrix and load in the provided sparse matrix.

This is the Jacobian -dF/dq, where F are stiff loads. Note that not all loads provide a jacobian, as this is optional in their implementation.

◆ GetTimerLSsolve()

virtual double chrono::ChSystem::GetTimerLSsolve ( ) const

inlinevirtual

Return the time (in seconds) for the solver, within the time step.

Note that this time excludes any calls to the solver's Setup function.

Reimplemented in chrono::ChSystemMulticore.

◆ Initialize()

void chrono::ChSystem::Initialize ( )

protected

Initial system setup before analysis.

This function performs an initial system setup, once system construction is completed and before an analysis. This function also initializes the collision system (if any), as well as any visualization system to which this Chrono system was attached. The initialization function is called automatically before starting any type of analysis.

◆ LoadConstraint_C()

void chrono::ChSystem::LoadConstraint_C	(	ChVectorDynamic<> &	Qc,
		const double	c,
		const bool	do_clamp = `false`,
		const double	clamp = `1e30`
	)

overridevirtual

Increment a vector Qc with the term C: Qc += c*C.

Parameters

Qc	result: the Qc residual, Qc += c*C
c	a scaling factor
do_clamp	enable optional clamping of Qc
clamp	clamping value

Reimplemented from chrono::ChIntegrableIIorder.

◆ LoadConstraint_Ct()

void chrono::ChSystem::LoadConstraint_Ct	(	ChVectorDynamic<> &	Qc,
		const double	c
	)

overridevirtual

Increment a vector Qc with the term Ct = partial derivative dC/dt: Qc += c*Ct.

Parameters

Qc	result: the Qc residual, Qc += c*Ct
c	a scaling factor

Reimplemented from chrono::ChIntegrableIIorder.

◆ LoadKRMMatrices()

void chrono::ChSystem::LoadKRMMatrices	(	double	Kfactor,
		double	Rfactor,
		double	Mfactor
	)

Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects.

The resulting KRM blocks represent linear combinations of the K, R, and M matrices, with the specified coefficients Kfactor, Rfactor,and Mfactor, respectively.

◆ LoadLumpedMass_Md()

void chrono::ChSystem::LoadLumpedMass_Md	(	ChVectorDynamic<> &	Md,
		double &	err,
		const double	c
	)

overridevirtual

Adds the lumped mass to a Md vector, representing a mass diagonal matrix.

Used by lumped explicit integrators. If mass lumping is impossible or approximate, adds scalar error to "error" parameter. Md += c*diag(M) or Md += c*HRZ(M)

Parameters

Md	result: Md vector, diagonal of the lumped mass matrix
err	result: not touched if lumping does not introduce errors
c	a scaling factor

Reimplemented from chrono::ChIntegrableIIorder.

◆ LoadResidual_CqL()

void chrono::ChSystem::LoadResidual_CqL	(	ChVectorDynamic<> &	R,
		const ChVectorDynamic<> &	L,
		const double	c
	)

overridevirtual

Increment a vectorR with the term Cq'*L: R += c*Cq'*L.

Parameters

R	result: the R residual, R += cCq'L
L	the L vector
c	a scaling factor

Reimplemented from chrono::ChIntegrableIIorder.

◆ LoadResidual_F()

void chrono::ChSystem::LoadResidual_F	(	ChVectorDynamic<> &	R,
		const double	c
	)

overridevirtual

Increment a vector R with the term c*F: R += c*F.

Parameters

R	result: the R residual, R += c*F
c	a scaling factor

Reimplemented from chrono::ChIntegrableIIorder.

◆ LoadResidual_Mv()

void chrono::ChSystem::LoadResidual_Mv	(	ChVectorDynamic<> &	R,
		const ChVectorDynamic<> &	w,
		const double	c
	)

overridevirtual

Increment a vector R with a term that has M multiplied a given vector w: R += c*M*w.

Parameters

R	result: the R residual, R += cMv
w	the w vector
c	a scaling factor

Reimplemented from chrono::ChIntegrableIIorder.

◆ ManageSleepingBodies()

bool chrono::ChSystem::ManageSleepingBodies ( )

protected

Put bodies to sleep if possible.

Also awakens sleeping bodies, if needed. Returns true if some body changed from sleep to no sleep or viceversa, returns false if nothing changed. In the former case also performs Setup() since the system changed.

If some body still must change from no sleep-> sleep, do it

◆ RegisterCustomCollisionCallback()

void chrono::ChSystem::RegisterCustomCollisionCallback ( std::shared_ptr< CustomCollisionCallback > callback )

Specify a callback object to be invoked at each collision detection step.

Multiple such callback objects can be registered with a system. If present, their OnCustomCollision() method is invoked. Use this if you want that some specific callback function is executed at each collision detection step (ex. all the times that ComputeCollisions() is automatically called by the integration method). For example some other collision engine could add further contacts using this callback.

◆ RemoveRedundantConstraints()

unsigned int chrono::ChSystem::RemoveRedundantConstraints	(	bool	remove_links = `false`,
		double	qr_tol = `1e-6`,
		bool	verbose = `false`
	)

Remove redundant constraints through QR decomposition of the constraints Jacobian matrix.

Remove redundant constraints present in ChSystem through QR decomposition of constraints Jacobian matrix.

This function can be used to improve the stability and performance of the system by removing redundant constraints. The function returns the number of redundant constraints that were deactivated/removed. Please consider that the some constraints might falsely appear as redundant in a specific configuration, while they might be not in general.

Parameters

remove_links	false: redundant links are just deactivated; true: redundant links get removed
qr_tol	tolerance in QR decomposition to identify linearly dependent constraints
verbose	set verbose output

◆ SetContactContainer()

void chrono::ChSystem::SetContactContainer ( std::shared_ptr< ChContactContainer > container )

virtual

Change the underlying contact container.

The contact container collects information from the underlying collision detection system required for contact force generation. Usually this is not needed, as the contact container is automatically handled by the ChSystem. Make sure the provided contact container is compatible with both the collision detection system and the contact force formulation (NSC or SMC).

Reimplemented in chrono::ChSystemMulticoreSMC, chrono::ChSystemMulticoreNSC, chrono::ChSystemSMC, and chrono::ChSystemNSC.

◆ SetMaxPenetrationRecoverySpeed()

void chrono::ChSystem::SetMaxPenetrationRecoverySpeed ( double value )

inline

Set the speed limit of exiting from penetration situations (default: 0.6).

Usually set a positive value, (about 0.1...2 m/s, as exiting speed). Used for unilateral constraints with the EULER_IMPLICIT_LINEARIZED time stepper.

◆ SetNumThreads()

void chrono::ChSystem::SetNumThreads	(	int	num_threads_chrono,
		int	num_threads_collision = `0`,
		int	num_threads_eigen = `0`
	)

virtual

Set the number of OpenMP threads used by Chrono itself, Eigen, and the collision detection system.

  num_threads_chrono    - used in FEA (parallel evaluation of internal forces and Jacobians) and
                          in SCM deformable terrain calculations.
  num_threads_collision - used in parallelization of collision detection (if applicable).
                          If passing 0, then num_threads_collision = num_threads_chrono.
  num_threads_eigen     - used in the Eigen sparse direct solvers and a few linear algebra operations.
                          Note that Eigen enables multi-threaded execution only under certain size conditions.
                          See the Eigen documentation.
                          If passing 0, then num_threads_eigen = num_threads_chrono.
By default (if this function is not called), the following values are used:
  num_threads_chrono = omp_get_num_procs()
  num_threads_collision = 1
  num_threads_eigen = 1

Note that a derived class may ignore some or all of these settings.

Reimplemented in chrono::ChSystemMulticore.

◆ SetSleepingAllowed()

void chrono::ChSystem::SetSleepingAllowed ( bool ms )

inline

Turn on this feature to let the system put to sleep the bodies whose motion has almost come to a rest.

This feature will allow faster simulation of large scenarios for real-time purposes, but it will affect the precision! This functionality can be turned off selectively for specific ChBodies.

◆ SetSolver()

void chrono::ChSystem::SetSolver ( std::shared_ptr< ChSolver > newsolver )

virtual

Attach a solver (derived from ChSolver) for use by this system.

Suggested solver for speed, but lower precision: PSOR
Suggested solver for higher precision: BARZILAIBORWEIN or APGD
For problems that involve a stiffness matrix: GMRES, MINRES

◆ SetSolverType()

void chrono::ChSystem::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.) Notes:

This function is a shortcut, internally equivalent to a call to SetSolver().
Only a subset of available Chrono solvers can be set through this mechanism.
Prefer explicitly creating a solver, setting solver parameters, and then attaching the solver with SetSolver.

Deprecated:: This function does not support all available Chrono solvers. Prefer using SetSolver.

◆ SetTimestepperType()

void chrono::ChSystem::SetTimestepperType ( ChTimestepper::Type type )

Set the method for time integration (time stepper type).

Suggested for fast dynamics with hard (NSC) contacts: EULER_IMPLICIT_LINEARIZED
Suggested for fast dynamics with hard (NSC) contacts and low inter-penetration: EULER_IMPLICIT_PROJECTED
Suggested for finite element smooth dynamics: HHT, EULER_IMPLICIT_LINEARIZED For full access to a time stepper's settings, use SetTimestepper()

◆ Setup()

void chrono::ChSystem::Setup ( )

virtual

Counts the number of bodies and links.

Computes the offsets of object states in the global state. Assumes that offset_x, offset_w, and offset_L are already set as starting point for offsetting all the contained sub objects.

Reimplemented in chrono::ChSystemMulticoreSMC, and chrono::ChSystemMulticore.

◆ ShowHierarchy()

void chrono::ChSystem::ShowHierarchy	(	std::ostream &	m_file,
		int	level = `0`
	)		const

inline

Write the hierarchy of contained bodies, markers, etc.

in ASCII readable form, mostly for debugging purposes. Level is the tab spacing at the left.

◆ StateIncrementX()

void chrono::ChSystem::StateIncrementX	(	ChState &	x_new,
		const ChState &	x,
		const ChStateDelta &	Dx
	)

overridevirtual

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. NOTE: the system is not updated automatically after the state increment, so one might need to call StateScatter() if needed.

Parameters

x_new	resulting x_new = x + Dx
x	initial state x
Dx	state increment Dx

Reimplemented from chrono::ChIntegrableIIorder.

◆ StateSolveCorrection()

bool chrono::ChSystem::StateSolveCorrection	(	ChStateDelta &	Dv,
		ChVectorDynamic<> &	DL,
		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,
		bool	full_update,
		bool	force_setup
	)

overridevirtual

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.

 | Du| = [ G   Cq' ]^-1 * | R |
 |-DL|   [ Cq  0   ]      |-Qc|

for residual R and G = [ c_a*M + c_v*dF/dv + c_x*dF/dx ].
This function returns true if successful and false otherwise.

Parameters

Dv	result: computed Dv
DL	result: computed lagrangian multipliers. Note the sign in system above.
R	the R residual
Qc	the Qc residual. Note the sign in system above.
c_a	the factor in c_a*M
c_v	the factor in c_v*dF/dv
c_x	the factor in c_x*dF/dv
x	current state, x part
v	current state, v part
T	current time T
force_state_scatter	if false, x and v are not scattered to the system
full_update	if true, perform a full update during scatter
force_setup	if true, call the solver's Setup() function

Reimplemented from chrono::ChIntegrableIIorder.

◆ WriteSystemMatrices()

void chrono::ChSystem::WriteSystemMatrices	(	bool	save_M,
		bool	save_K,
		bool	save_R,
		bool	save_Cq,
		const std::string &	path,
		bool	one_indexed = `true`
	)

Write the mass (M), damping (R), stiffness (K), and constraint Jacobian (Cq) matrices at current configuration.

These can be used for linearized motion, modal analysis, buckling analysis, etc. The sparse matrices are saved in COO format in 'path' folder according to the naming: solve_M.dat solve_K.dat solve_R.dat, and solve_Cq.dat. By default, uses 1-based indices (as in Matlab).

Member Data Documentation

◆ visual_system

ChVisualSystem* chrono::ChSystem::visual_system

protected

material composition strategy

run-time visualization engine

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono/physics/ChSystem.h
/builds/uwsbel/chrono/src/chrono/physics/ChSystem.cpp

Description

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Member Function Documentation

◆ Add()

◆ AddBatch()

◆ Clone()

◆ ComputeCollisions()

◆ CustomEndOfStep()

◆ DoAssembly()

◆ DoFrameDynamics()

◆ DoFrameKinematics()

◆ DoStaticLinear()

◆ DoStaticNonlinear()

◆ DoStaticNonlinearRheonomic()

◆ DoStaticRelaxing()

◆ DoStepDynamics()

◆ EnableSolverMatrixWrite()

◆ FlushBatch()

◆ ForceUpdate()

◆ GetBodyAppliedForce()

◆ GetBodyAppliedTorque()

◆ GetCollisionSystem()

◆ GetConstraintJacobianMatrix()

◆ GetContactContainer()

◆ GetContactMethod()

◆ GetDampingMatrix()

◆ GetNumCoordsPosLevel()

◆ GetNumCoordsVelLevel()

◆ GetRTF()

◆ GetSolverSetupCount()

◆ GetSolverSolveCount()

◆ GetStep()

◆ GetStiffnessMatrix()

◆ GetTimerLSsolve()

◆ Initialize()

◆ LoadConstraint_C()

◆ LoadConstraint_Ct()

◆ LoadKRMMatrices()

◆ LoadLumpedMass_Md()

◆ LoadResidual_CqL()

◆ LoadResidual_F()

◆ LoadResidual_Mv()

◆ ManageSleepingBodies()

◆ RegisterCustomCollisionCallback()

◆ RemoveRedundantConstraints()

◆ SetContactContainer()

◆ SetMaxPenetrationRecoverySpeed()

◆ SetNumThreads()

◆ SetSleepingAllowed()

◆ SetSolver()

◆ SetSolverType()

◆ SetTimestepperType()

◆ Setup()

◆ ShowHierarchy()

◆ StateIncrementX()

◆ StateSolveCorrection()

◆ WriteSystemMatrices()

Member Data Documentation

◆ visual_system