Description

Class for a single particle clone in the ChParticlesClones cluster.

It does not define mass, inertia and shape because those are shared among them.

#include <ChParticlesClones.h>

Inheritance diagram for chrono::ChAparticle:

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Collaboration diagram for chrono::ChAparticle:

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Public Member Functions
	ChAparticle (const ChAparticle &other)

ChAparticle &	operator= (const ChAparticle &other)

virtual ChVariables &	Variables () override

ChParticlesClones *	GetContainer () const

void	SetContainer (ChParticlesClones *mc)

virtual ChContactable::eChContactableType	GetContactableType () const override
	This must return the proper eChContactableType enum, for allowing a faster collision dispatcher in ChContactContainer classes (this enum will be used instead of slow dynamic_cast<> to infer the type of ChContactable, if possible)

virtual ChVariables *	GetVariables1 () override
	Access variables.

virtual bool	IsContactActive () override
	Tell if the object must be considered in collision detection.

virtual int	ContactableGet_ndof_x () override
	Get the number of DOFs affected by this object (position part).

virtual int	ContactableGet_ndof_w () override
	Get the number of DOFs affected by this object (speed part).

virtual void	ContactableGetStateBlock_x (ChState &x) override
	Get all the DOFs packed in a single vector (position part)

virtual void	ContactableGetStateBlock_w (ChStateDelta &w) override
	Get all the DOFs packed in a single vector (speed part)

virtual void	ContactableIncrementState (const ChState &x, const ChStateDelta &dw, ChState &x_new) override
	Increment the provided state of this object by the given state-delta increment. More...

virtual std::shared_ptr< ChMaterialSurface > &	GetMaterialSurface () override
	Return the pointer to the contact surface material.

virtual ChVector	GetContactPoint (const ChVector<> &loc_point, const ChState &state_x) override
	Express the local point in absolute frame, for the given state position.

virtual ChVector	GetContactPointSpeed (const ChVector<> &loc_point, const ChState &state_x, const ChStateDelta &state_w) override
	Get the absolute speed of a local point attached to the contactable. More...

virtual ChVector	GetContactPointSpeed (const ChVector<> &abs_point) override
	Get the absolute speed of point abs_point if attached to the surface. More...

virtual ChCoordsys	GetCsysForCollisionModel () override
	Return the coordinate system for the associated collision model. More...

virtual void	ContactForceLoadResidual_F (const ChVector<> &F, const ChVector<> &abs_point, ChVectorDynamic<> &R) override
	Apply the force, expressed in absolute reference, applied in pos, to the coordinates of the variables. More...

virtual void	ContactForceLoadQ (const ChVector<> &F, const ChVector<> &point, const ChState &state_x, ChVectorDynamic<> &Q, int offset) override
	Apply the given force at the given point and load the generalized force array. More...

virtual void	ComputeJacobianForContactPart (const ChVector<> &abs_point, ChMatrix33<> &contact_plane, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_N, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_U, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_V, bool second) override
	Compute the jacobian(s) part(s) for this contactable item. More...

virtual void	ComputeJacobianForRollingContactPart (const ChVector<> &abs_point, ChMatrix33<> &contact_plane, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_N, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_U, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_V, bool second) override
	Compute the jacobian(s) part(s) for this contactable item, for rolling about N,u,v (used only for rolling friction NSC contacts)

virtual double	GetContactableMass () override
	used by some SMC code

virtual ChPhysicsItem *	GetPhysicsItem () override
	This is only for backward compatibility.

virtual void	ArchiveOUT (ChArchiveOut &marchive) override
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIN (ChArchiveIn &marchive) override
	Method to allow de serialization of transient data from archives.

Public Member Functions inherited from chrono::ChParticleBase
	ChParticleBase (const ChParticleBase &other)

ChParticleBase &	operator= (const ChParticleBase &other)

Public Member Functions inherited from chrono::ChFrameMoving< double >
	ChFrameMoving (const ChVector< double > &mv=ChVector< double >(0, 0, 0), const ChQuaternion< double > &mq=ChQuaternion< double >(1, 0, 0, 0))
	Construct from pos and rot (as a quaternion)

	ChFrameMoving (const ChVector< double > &mv, const ChMatrix33< double > &ma)
	Construct from pos and rotation (as a 3x3 matrix)

	ChFrameMoving (const ChCoordsys< double > &mc)
	Construct from a coordsys.

	ChFrameMoving (const ChFrame< double > &mc)
	Construct from a frame.

	ChFrameMoving (const ChFrameMoving< double > &other)
	Copy constructor, build from another moving frame.

virtual	~ChFrameMoving ()
	Destructor.

ChFrameMoving< double > &	operator= (const ChFrameMoving< double > &other)
	Assignment operator: copy from another moving frame.

ChFrameMoving< double > &	operator= (const ChFrame< double > &other)
	Assignment operator: copy from another frame.

bool	operator== (const ChFrameMoving< double > &other) const
	Returns true for identical frames.

bool	operator!= (const ChFrameMoving< double > &other) const
	Returns true for different frames.

ChFrameMoving< double >	operator>> (const ChFrameMoving< double > &Fb) const
	The '>>' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = old_frame >> tr_frame; For a sequence of transformations, i.e. More...

ChFrameMoving< double >	operator* (const ChFrameMoving< double > &Fb) const
	The '' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = tr_frame old_frame; For a sequence of transformations, i.e. More...

ChFrameMoving< double > &	operator>>= (const ChFrameMoving< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A>>=T means A'=T*A ; or A'=A >> T.

ChFrameMoving< double > &	operator>>= (const ChVector< double > &D)
	Performs pre-multiplication of this frame by a vector D, to 'move' by a displacement D:

ChFrameMoving< double > &	operator>>= (const ChQuaternion< double > &R)
	Performs pre-multiplication of this frame by a quaternion R, to 'rotate' it by R:

ChFrameMoving< double > &	operator>>= (const ChCoordsys< double > &F)
	Performs pre-multiplication of this frame by a ChCoordsys F:

ChFrameMoving< double > &	operator>>= (const ChFrame< double > &F)
	Performs pre-multiplication of this frame by a ChFrame F:

ChFrameMoving< double > &	operator%= (const ChFrameMoving< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A%=T means A'=T*A ; or A'=A >> T Note: DEPRECATED, use >>= instead.

ChFrameMoving< double > &	operator*= (const ChFrameMoving< double > &T)
	Performs post-multiplication of this frame by another frame, for example: A=T means A'=AT ; or A'=T >> A.

ChCoordsys< double > &	GetCoord_dt ()
	Return both current rotation and translation speeds as a coordsystem object, with vector and quaternion.

const ChCoordsys< double > &	GetCoord_dt () const

ChCoordsys< double > &	GetCoord_dtdt ()
	Return both current rotation and translation accelerations as a coordsystem object, with vector and quaternion.

const ChCoordsys< double > &	GetCoord_dtdt () const

ChVector< double > &	GetPos_dt ()
	Return the current speed as a 3d vector.

const ChVector< double > &	GetPos_dt () const

ChVector< double > &	GetPos_dtdt ()
	Return the current acceleration as a 3d vector.

const ChVector< double > &	GetPos_dtdt () const

ChQuaternion< double > &	GetRot_dt ()
	Return the current rotation speed as a quaternion.

const ChQuaternion< double > &	GetRot_dt () const

ChQuaternion< double > &	GetRot_dtdt ()
	Return the current rotation acceleration as a quaternion.

const ChQuaternion< double > &	GetRot_dtdt () const

ChVector< double >	GetWvel_loc () const
	Computes the actual angular speed (expressed in local coords)

ChVector< double >	GetWvel_par () const
	Computes the actual angular speed (expressed in parent coords)

ChVector< double >	GetWacc_loc () const
	Computes the actual angular acceleration (expressed in local coords)

ChVector< double >	GetWacc_par () const
	Computes the actual angular acceleration (expressed in parent coords)

virtual void	SetCoord_dt (const ChCoordsys< double > &mcoord_dt)
	Set both linear speed and rotation speed as a single ChCoordsys derivative.

virtual void	SetPos_dt (const ChVector< double > &mvel)
	Set the linear speed.

virtual void	SetRot_dt (const ChQuaternion< double > &mrot_dt)
	Set the rotation speed as a quaternion. More...

virtual void	SetWvel_loc (const ChVector< double > &wl)
	Set the rotation speed from given angular speed (expressed in local csys)

virtual void	SetWvel_par (const ChVector< double > &wp)
	Set the rotation speed from given angular speed (expressed in parent csys)

virtual void	SetCoord_dtdt (const ChCoordsys< double > &mcoord_dtdt)
	Set both linear acceleration and rotation acceleration as a single ChCoordsys derivative.

virtual void	SetPos_dtdt (const ChVector< double > &macc)
	Set the linear acceleration.

virtual void	SetRot_dtdt (const ChQuaternion< double > &mrot_dtdt)
	Set the rotation acceleration as a quaternion derivative. More...

virtual void	SetWacc_loc (const ChVector< double > &al)
	Set the rotation acceleration from given angular acceleration (expressed in local csys)

virtual void	SetWacc_par (ChVector< double > &ap)
	Set the rotation speed from given angular speed (expressed in parent csys)

void	Compute_Adt (ChMatrix33< double > &mA_dt) const
	Computes the time derivative of rotation matrix, mAdt.

void	Compute_Adtdt (ChMatrix33< double > &mA_dtdt)
	Computes the 2nd time derivative of rotation matrix, mAdtdt.

ChMatrix33< double >	GetA_dt ()
	Computes and returns an Adt matrix (-note: prefer using Compute_Adt() directly for better performance)

ChMatrix33< double >	GetA_dtdt ()
	Computes and returns an Adt matrix (-note: prefer using Compute_Adtdt() directly for better performance)

void	ConcatenatePreTransformation (const ChFrameMoving< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrameMoving T. More...

void	ConcatenatePostTransformation (const ChFrameMoving< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrameMoving T in local coordinate. More...

ChVector< double >	PointSpeedLocalToParent (const ChVector< double > &localpos) const
	Given the position of a point in local frame coords, and assuming it is sticky to frame, return the speed in parent coords.

ChVector< double >	PointSpeedLocalToParent (const ChVector< double > &localpos, const ChVector< double > &localspeed) const
	Given the position localpos of a point in the local reference frame, assuming that the point moves in the local reference frame with localspeed, return the speed in the parent reference frame.

ChVector< double >	PointAccelerationLocalToParent (const ChVector< double > &localpos) const
	Given the position of a point in local frame coords, and assuming it is sticky to frame, return the acceleration in parent coords.

ChVector< double >	PointAccelerationLocalToParent (const ChVector< double > &localpos, const ChVector< double > &localspeed, const ChVector< double > &localacc) const
	Given the position of a point in local frame coords, and assuming it has a frame-relative speed localspeed and frame-relative acceleration localacc, return the acceleration in parent coords.

ChVector< double >	PointSpeedParentToLocal (const ChVector< double > &parentpos, const ChVector< double > &parentspeed) const
	Given the position of a point in parent frame coords, and assuming it has an absolute speed parentspeed, return the speed in local coords.

ChVector< double >	PointAccelerationParentToLocal (const ChVector< double > &parentpos, const ChVector< double > &parentspeed, const ChVector< double > &parentacc) const
	Given the position of a point in parent frame coords, and assuming it has an absolute speed parentspeed and absolute acceleration parentacc, return the acceleration in local coords.

void	TransformLocalToParent (const ChFrameMoving< double > &local, ChFrameMoving< double > &parent) const
	This function transforms a frame from 'this' local coordinate system to parent frame coordinate system, and also transforms the speed and acceleration of the frame. More...

void	TransformParentToLocal (const ChFrameMoving< double > &parent, ChFrameMoving< double > &local) const
	This function transforms a frame from the parent coordinate system to 'this' local frame coordinate system. More...

bool	Equals (const ChFrameMoving< double > &other) const
	Returns true if coordsys is identical to other coordsys.

bool	Equals (const ChFrameMoving< double > &other, double tol) const
	Returns true if coordsys is equal to other coordsys, within a tolerance 'tol'.

virtual void	Invert () override
	The transformation (also for speeds, accelerations) is inverted in place. More...

ChFrameMoving< double >	GetInverse () const

Public Member Functions inherited from chrono::ChFrame< double >
	ChFrame (const ChVector< double > &mv=ChVector< double >(0, 0, 0), const ChQuaternion< double > &mq=ChQuaternion< double >(1, 0, 0, 0))
	Default constructor, or construct from pos and rot (as a quaternion)

	ChFrame (const ChVector< double > &mv, const ChMatrix33< double > &ma)
	Construct from pos and rotation (as a 3x3 matrix)

	ChFrame (const ChCoordsys< double > &mc)
	Construct from a coordsys.

	ChFrame (const ChVector< double > &mv, const double alpha, const ChVector< double > &mu)
	Construct from position mv and rotation of angle alpha around unit vector mu.

	ChFrame (const ChFrame< double > &other)
	Copy constructor, build from another frame.

ChFrame< double > &	operator= (const ChFrame< double > &other)
	Assignment operator: copy from another frame.

virtual bool	operator== (const ChFrame< double > &other) const
	Returns true for identical frames.

virtual bool	operator!= (const ChFrame< double > &other) const
	Returns true for different frames.

ChFrame< double >	operator>> (const ChFrame< double > &Fb) const
	The '>>' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = old_frame >> tr_frame; For a sequence of transformations, i.e. More...

ChFrame< double >	operator* (const ChFrame< double > &Fb) const
	The '>>' operator transforms a vector, so transformations can be represented with this syntax: new_v = old_v >> tr_frame; For a sequence of transformations, i.e. More...

ChVector< double >	operator* (const ChVector< double > &V) const
	The '' operator transforms a vector, so transformations can be represented with this syntax: new_v = tr_frame old_v; For a sequence of transformations, i.e. More...

ChVector< double >	operator/ (const ChVector< double > &V) const
	The '/' is like the '*' operator (see), but uses the inverse transformation for A, in A/b. More...

ChFrame< double > &	operator>>= (const ChFrame< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A>>=T means A'=T*A ; or A'=A >> T.

ChFrame< double > &	operator>>= (const ChVector< double > &D)
	Performs pre-multiplication of this frame by a vector D, to 'move' by a displacement D:

ChFrame< double > &	operator>>= (const ChQuaternion< double > &R)
	Performs pre-multiplication of this frame by a quaternion R, to 'rotate' it by R:

ChFrame< double > &	operator>>= (const ChCoordsys< double > &F)
	Performs pre-multiplication of this frame by a ChCoordsys F, to transform it:

ChFrame< double > &	operator%= (const ChFrame< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A%=T means A'=T*A ; or A'=A >> T Note: DEPRECATED, use >>= instead.

ChFrame< double > &	operator*= (const ChFrame< double > &T)
	Performs post-multiplication of this frame by another frame, for example: A=T means A'=AT ; or A'=T >> A.

ChCoordsys< double > &	GetCoord ()
	Return both current rotation and translation as a coordsystem object, with vector and quaternion.

const ChCoordsys< double > &	GetCoord () const

ChVector< double > &	GetPos ()
	Return the current translation as a 3d vector.

const ChVector< double > &	GetPos () const

ChQuaternion< double > &	GetRot ()
	Return the current rotation as a quaternion.

const ChQuaternion< double > &	GetRot () const

ChMatrix33< double > &	GetA ()
	Return the current rotation as a 3x3 matrix.

const ChMatrix33< double > &	GetA () const

ChVector< double >	GetRotAxis ()
	Get axis of finite rotation, in parent space.

double	GetRotAngle ()
	Get angle of rotation about axis of finite rotation.

virtual void	SetCoord (const ChCoordsys< double > &mcoord)
	Impose both translation and rotation as a single ChCoordsys. More...

virtual void	SetCoord (const ChVector< double > &mv, const ChQuaternion< double > &mq)
	Impose both translation and rotation. More...

virtual void	SetRot (const ChQuaternion< double > &mrot)
	Impose the rotation as a quaternion. More...

virtual void	SetRot (const ChMatrix33< double > &mA)
	Impose the rotation as a 3x3 matrix. More...

virtual void	SetPos (const ChVector< double > &mpos)
	Impose the translation.

void	ConcatenatePreTransformation (const ChFrame< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrame T. More...

void	ConcatenatePostTransformation (const ChFrame< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrame T in local coordinate. More...

void	Move (const ChVector< double > &V)
	An easy way to move the frame by the amount specified by vector V, (assuming V expressed in parent coordinates)

void	Move (const ChCoordsys< double > &VR)
	Apply both translation and rotation, assuming both expressed in parent coordinates, as a vector for translation and quaternion for rotation,.

virtual ChVector< double >	TransformLocalToParent (const ChVector< double > &local) const
	This function transforms a point from the local frame coordinate system to the parent coordinate system. More...

virtual void	TransformLocalToParent (const ChFrame< double > &local, ChFrame< double > &parent) const
	This function transforms a frame from 'this' local coordinate system to parent frame coordinate system. More...

virtual ChVector< double >	TransformPointLocalToParent (const ChVector< double > &local) const

virtual ChVector< double >	TransformParentToLocal (const ChVector< double > &parent) const
	This function transforms a point from the parent coordinate system to local frame coordinate system. More...

virtual void	TransformParentToLocal (const ChFrame< double > &parent, ChFrame< double > &local) const
	This function transforms a frame from the parent coordinate system to 'this' local frame coordinate system. More...

virtual ChVector< double >	TransformPointParentToLocal (const ChVector< double > &parent) const

virtual ChVector< double >	TransformDirectionParentToLocal (const ChVector< double > &mdirection) const
	This function transforms a direction from 'this' local coordinate system to parent frame coordinate system. More...

virtual ChVector< double >	TransformDirectionLocalToParent (const ChVector< double > &mdirection) const
	This function transforms a direction from the parent frame coordinate system to 'this' local coordinate system. More...

bool	Equals (const ChFrame< double > &other) const
	Returns true if coordsys is identical to other coordsys.

bool	Equals (const ChFrame< double > &other, double tol) const
	Returns true if coordsys is equal to other coordsys, within a tolerance 'tol'.

void	Normalize ()
	Normalize the rotation, so that quaternion has unit length.

virtual void	SetIdentity ()
	Sets to no translation and no rotation.

ChFrame< double >	GetInverse () const

Public Attributes
ChParticlesClones *	container

ChVariablesBodySharedMass	variables

collision::ChCollisionModel *	collision_model

ChVector	UserForce

ChVector	UserTorque

Public Attributes inherited from chrono::ChFrameMoving< double >
ChCoordsys< double >	coord_dt
	Rotation and position speed, as vector+quaternion.

ChCoordsys< double >	coord_dtdt
	Rotation and position acceleration, as vector+quaternion.

Public Attributes inherited from chrono::ChFrame< double >
ChCoordsys< double >	coord
	Rotation and position, as vector+quaternion.

ChMatrix33< double >	Amatrix
	3x3 orthogonal rotation matrix

Member Function Documentation

◆ ComputeJacobianForContactPart()

void chrono::ChAparticle::ComputeJacobianForContactPart	(	const ChVector<> &	abs_point,
		ChMatrix33<> &	contact_plane,
		ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &	jacobian_tuple_N,
		ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &	jacobian_tuple_U,
		ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &	jacobian_tuple_V,
		bool	second
	)

overridevirtual

Compute the jacobian(s) part(s) for this contactable item.

For example, if the contactable is a ChBody, this should update the corresponding 1x6 jacobian.

◆ ContactableIncrementState()

void chrono::ChAparticle::ContactableIncrementState	(	const ChState &	x,
		const ChStateDelta &	dw,
		ChState &	x_new
	)

overridevirtual

Increment the provided state of this object by the given state-delta increment.

Compute: x_new = x + dw.

Implements chrono::ChContactable.

◆ ContactForceLoadQ()

void chrono::ChAparticle::ContactForceLoadQ	(	const ChVector<> &	F,
		const ChVector<> &	point,
		const ChState &	state_x,
		ChVectorDynamic<> &	Q,
		int	offset
	)

overridevirtual

Apply the given force at the given point and load the generalized force array.

The force and its application point are specified in the global frame. Each object must set the entries in Q corresponding to its variables, starting at the specified offset. If needed, the object states must be extracted from the provided state position.

Implements chrono::ChContactable.

◆ ContactForceLoadResidual_F()

void chrono::ChAparticle::ContactForceLoadResidual_F	(	const ChVector<> &	F,
		const ChVector<> &	abs_point,
		ChVectorDynamic<> &	R
	)

overridevirtual

Apply the force, expressed in absolute reference, applied in pos, to the coordinates of the variables.

Force for example could come from a penalty model.

Implements chrono::ChContactable.

◆ GetContactPointSpeed() [1/2]

ChVector chrono::ChAparticle::GetContactPointSpeed ( const ChVector<> & abs_point )

overridevirtual

Get the absolute speed of point abs_point if attached to the surface.

Easy in this case because there are no rotations..

Implements chrono::ChContactable.

◆ GetContactPointSpeed() [2/2]

ChVector chrono::ChAparticle::GetContactPointSpeed	(	const ChVector<> &	loc_point,
		const ChState &	state_x,
		const ChStateDelta &	state_w
	)

overridevirtual

Get the absolute speed of a local point attached to the contactable.

The given point is assumed to be expressed in the local frame of this object. This function must use the provided states.

Implements chrono::ChContactable.

◆ GetCsysForCollisionModel()

virtual ChCoordsys chrono::ChAparticle::GetCsysForCollisionModel ( )

inlineoverridevirtual

Return the coordinate system for the associated collision model.

ChCollisionModel might call this to get the position of the contact model (when rigid) and sync it.

Implements chrono::ChContactable.

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

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

Description

Public Member Functions

Public Attributes

Member Function Documentation

◆ ComputeJacobianForContactPart()

◆ ContactableIncrementState()

◆ ContactForceLoadQ()

◆ ContactForceLoadResidual_F()

◆ GetContactPointSpeed() [1/2]

◆ GetContactPointSpeed() [2/2]

◆ GetCsysForCollisionModel()