Description
template<class Ta, class Tb>
class chrono::ChContactTuple< Ta, Tb >
Base class for contact between two generic ChContactable objects.
T1 and T2 are of ChContactable sub classes.
#include <ChContactTuple.h>
Public Types | |
typedef Ta::type_variable_tuple_carrier | typecarr_a |
typedef Tb::type_variable_tuple_carrier | typecarr_b |
Public Member Functions | |
ChContactTuple (ChContactContainer *mcontainer, Ta *mobjA, Tb *mobjB, const collision::ChCollisionInfo &cinfo) | |
virtual void | Reset (Ta *mobjA, Tb *mobjB, const collision::ChCollisionInfo &cinfo) |
Initialize again this constraint. More... | |
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 ChVector | GetContactForce () const |
Get the contact force, if computed, in contact coordinate system. | |
virtual void | ContIntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) |
virtual void | ContIntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) |
virtual void | ContIntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) |
virtual void | ContIntLoadConstraint_C (const unsigned int off_L, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) |
virtual void | ContIntLoadResidual_F (ChVectorDynamic<> &R, const double c) |
virtual void | ContInjectKRMmatrices (ChSystemDescriptor &mdescriptor) |
virtual void | ContKRMmatricesLoad (double Kfactor, double Rfactor) |
virtual void | ContIntToDescriptor (const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) |
virtual void | ContIntFromDescriptor (const unsigned int off_L, ChVectorDynamic<> &L) |
virtual void | InjectConstraints (ChSystemDescriptor &mdescriptor) |
virtual void | ConstraintsBiReset () |
virtual void | ConstraintsBiLoad_C (double factor=1., double recovery_clamp=0.1, bool do_clamp=false) |
virtual void | ConstraintsFetch_react (double factor) |
Protected Attributes | |
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
◆ ChContactTuple()
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inline |
- Parameters
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mcontainer contact container mobjA ChContactable object A mobjB ChContactable object B cinfo data for the contact pair
Member Function Documentation
◆ ContIntFromDescriptor()
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inlinevirtual |
- Parameters
-
off_L offset in L L the L vector
◆ ContIntLoadConstraint_C()
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inlinevirtual |
- Parameters
-
off_L offset in Qc residual Qc result: the Qc residual, Qc += c*C c a scaling factor do_clamp apply clamping to c*C? recovery_clamp value for min/max clamping of c*C
◆ ContIntLoadResidual_CqL()
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inlinevirtual |
- Parameters
-
off_L offset in L multipliers R result: the R residual, R += c*Cq'*L L the L vector c a scaling factor
◆ ContIntToDescriptor()
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inlinevirtual |
- Parameters
-
off_L offset in L, Qc L the L vector Qc the Qc vector
◆ GetContactCoords()
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inline |
Get the contact coordinate system, expressed in absolute frame.
This represents the 'main' reference of the link: reaction forces are expressed in this coordinate system. Its origin is point P2. (It is the coordinate system of the contact plane and normal)
◆ GetContactPlane()
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inline |
Returns the pointer to a contained 3x3 matrix representing the UV and normal directions of the contact.
In detail, the X versor (the 1s column of the matrix) represents the direction of the contact normal.
◆ Reset()
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inlinevirtual |
Initialize again this constraint.
- Parameters
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mobjA ChContactable object A mobjB ChContactable object B cinfo data for the contact pair
Reimplemented in chrono::ChContactSMC< Ta, Tb >, chrono::ChContactNSC< Ta, Tb >, and chrono::ChContactNSCrolling< Ta, Tb >.
The documentation for this class was generated from the following file:
- /builds/uwsbel/chrono/src/chrono/physics/ChContactTuple.h