chrono::ChContactNSC< Ta, Tb > Class Template Reference

Description

template<class Ta, class Tb>
class chrono::ChContactNSC< Ta, Tb >

Class for non-smooth contact between two generic ChContactable objects.

Ta and Tb are of ChContactable sub classes.

#include <ChContactNSC.h>

Inheritance diagram for chrono::ChContactNSC< Ta, Tb >:

Collaboration diagram for chrono::ChContactNSC< Ta, Tb >:

Public Types
typedef ChContactTuple< Ta, Tb >::typecarr_a	typecarr_a
typedef ChContactTuple< Ta, Tb >::typecarr_b	typecarr_b
Public Types inherited from chrono::ChContactTuple< Ta, Tb >
typedef Ta::type_variable_tuple_carrier	typecarr_a
typedef Tb::type_variable_tuple_carrier	typecarr_b

Public Member Functions
	ChContactNSC (ChContactContainer *mcontainer, Ta *mobjA, Tb *mobjB, const collision::ChCollisionInfo &cinfo)
virtual void	Reset (Ta *mobjA, Tb *mobjB, const collision::ChCollisionInfo &cinfo) override
	Initialize again this constraint. More...
virtual ChVector	GetContactForce () const override
	Get the contact force, if computed, in contact coordinate system.
virtual double	GetFriction ()
	Get the contact friction coefficient.
virtual void	SetFriction (double mf)
	Set the contact friction coefficient.
virtual void	ContIntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) override
virtual void	ContIntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) override
virtual void	ContIntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) override
virtual void	ContIntLoadConstraint_C (const unsigned int off_L, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) override
virtual void	ContIntToDescriptor (const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) override
virtual void	ContIntFromDescriptor (const unsigned int off_L, ChVectorDynamic<> &L) override
virtual void	InjectConstraints (ChSystemDescriptor &mdescriptor) override
virtual void	ConstraintsBiReset () override
virtual void	ConstraintsBiLoad_C (double factor=1., double recovery_clamp=0.1, bool do_clamp=false) override
virtual void	ConstraintsFetch_react (double factor) override
Public Member Functions inherited from chrono::ChContactTuple< Ta, Tb >
	ChContactTuple (ChContactContainer *mcontainer, Ta *mobjA, Tb *mobjB, const collision::ChCollisionInfo &cinfo)
Ta *	GetObjA ()
	Get the colliding object A, with point P1.
Tb *	GetObjB ()
	Get the colliding object B, with point P2.
ChCoordsys	GetContactCoords () const
	Get the contact coordinate system, expressed in absolute frame. More...
const ChMatrix33 &	GetContactPlane () const
	Returns the pointer to a contained 3x3 matrix representing the UV and normal directions of the contact. More...
const ChVector &	GetContactP1 () const
	Get the contact point 1, in absolute coordinates.
const ChVector &	GetContactP2 () const
	Get the contact point 2, in absolute coordinates.
const ChVector &	GetContactNormal () const
	Get the contact normal, in absolute coordinates.
double	GetContactDistance () const
	Get the contact distance.
double	GetEffectiveCurvatureRadius () const
	Get the effective radius of curvature.
virtual void	ContIntLoadResidual_F (ChVectorDynamic<> &R, const double c)
virtual void	ContInjectKRMmatrices (ChSystemDescriptor &mdescriptor)
virtual void	ContKRMmatricesLoad (double Kfactor, double Rfactor)

Protected Attributes
float *	reactions_cache
	N,U,V reactions which might be stored in a persistent contact manifold.
ChConstraintTwoTuplesContactN< typecarr_a, typecarr_b >	Nx
	The three scalar constraints, to be fed into the system solver. More...
ChConstraintTwoTuplesFrictionT< typecarr_a, typecarr_b >	Tu
ChConstraintTwoTuplesFrictionT< typecarr_a, typecarr_b >	Tv
ChVector	react_force
double	compliance
double	complianceT
double	restitution
double	dampingf
Protected Attributes inherited from chrono::ChContactTuple< Ta, Tb >
ChContactContainer *	container
	associated contact container
Ta *	objA
	first ChContactable object in the pair
Tb *	objB
	second ChContactable object in the pair
ChVector	p1
	max penetration point on geo1, after refining, in abs space
ChVector	p2
	max penetration point on geo2, after refining, in abs space
ChVector	normal
	normal, on surface of master reference (geo1)
ChMatrix33	contact_plane
	the plane of contact (X is normal direction)
double	norm_dist
	penetration distance (negative if going inside) after refining
double	eff_radius
	effective radius of curvature at contact

Constructor & Destructor Documentation

ChContactNSC()

template<class Ta , class Tb >

chrono::ChContactNSC< Ta, Tb >::ChContactNSC ( ChContactContainer *  mcontainer, Ta *  mobjA, Tb *  mobjB, const collision::ChCollisionInfo &  cinfo  )

inline

Parameters

mcontainer	contact container
mobjA	collidable object A
mobjB	collidable object B
cinfo	data for the contact pair

Member Function Documentation

Reset()

template<class Ta , class Tb >

virtual void chrono::ChContactNSC< Ta, Tb >::Reset ( Ta *  mobjA, Tb *  mobjB, const collision::ChCollisionInfo &  cinfo  )

inlineoverridevirtual

Initialize again this constraint.

Parameters

mobjA	collidable object A
mobjB	collidable object B
cinfo	data for the contact pair

Reimplemented from chrono::ChContactTuple< Ta, Tb >.

Reimplemented in chrono::ChContactNSCrolling< Ta, Tb >.

Member Data Documentation

Nx

template<class Ta , class Tb >

ChConstraintTwoTuplesContactN<typecarr_a, typecarr_b> chrono::ChContactNSC< Ta, Tb >::Nx

protected

The three scalar constraints, to be fed into the system solver.

They contain jacobians data and special functions.

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

• /builds/uwsbel/chrono/src/chrono/physics/ChContactNSC.h