Description

Unilateral (contact) constraints.

#include <ChConstraintRigidRigid.h>

Collaboration diagram for chrono::ChConstraintRigidRigid:

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Public Member Functions
void	Setup (ChParallelDataManager *dm)

void	Project (real *gamma)

void	Project_Single (int index, real *gamma)

void	host_Project_single (int index, vec2 ids, real3 friction, real cohesion, real gamma)

void	func_Project_normal (int index, const vec2 ids, const real cohesion, real *gam)

void	func_Project_sliding (int index, const vec2 ids, const real3 fric, const real cohesion, real gam)

void	func_Project_spinning (int index, const vec2 ids, const real3 fric, real *gam)

void	Dx (const DynamicVector< real > &x, DynamicVector< real > &output)

void	D_Tx (const DynamicVector< real > &x, DynamicVector< real > &output)

void	Build_b ()
	Compute the vector of corrections.

void	Build_E ()
	Compute the diagonal compliance matrix.

void	Build_D ()
	Compute the jacobian matrix, no allocation is performed here, GenerateSparsity should take care of that.

void	Build_s ()

void	GenerateSparsity ()
	Fill-in the non zero entries in the bilateral jacobian with ones. More...

Protected Attributes
custom_vector< bool2 >	contact_active_pairs

real	inv_h
	reciprocal of time step, 1/h

real	inv_hpa
	1 / (h+a)

real	inv_hhpa
	1 / h*(h+a)

custom_vector< real3_int >	rotated_point_a

custom_vector< real3_int >	rotated_point_b

custom_vector< quaternion >	quat_a

custom_vector< quaternion >	quat_b

ChParallelDataManager *	data_manager
	Pointer to the system's data manager.

Member Function Documentation

void ChConstraintRigidRigid::GenerateSparsity ( )

Fill-in the non zero entries in the bilateral jacobian with ones.

This operation is sequential.

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

/builds/uwsbel/chrono/src/chrono_parallel/constraints/ChConstraintRigidRigid.h
/builds/uwsbel/chrono/src/chrono_parallel/constraints/ChConstraintRigidRigid.cpp