Description
Material data for a surface for use with non-smooth (complementarity) contact method.
This data is used to define surface properties owned by ChBody rigid bodies and similar objects; it carries information that is used to make contacts.
#include <ChMaterialSurfaceNSC.h>
Public Member Functions | |
ChMaterialSurfaceNSC (const ChMaterialSurfaceNSC &other) | |
virtual ChMaterialSurfaceNSC * | Clone () const override |
"Virtual" copy constructor (covariant return type). | |
virtual ContactMethod | GetContactMethod () const override |
float | GetSfriction () |
The static friction coefficient. More... | |
void | SetSfriction (float mval) |
float | GetKfriction () |
The sliding ('kinetic')friction coefficient. More... | |
void | SetKfriction (float mval) |
void | SetFriction (float mval) |
Set both static friction and kinetic friction at once, with same value. | |
float | GetRollingFriction () |
The rolling friction (rolling parameter, it has the dimension of a length). More... | |
void | SetRollingFriction (float mval) |
float | GetSpinningFriction () |
The spinning friction (it has the dimension of a length). More... | |
void | SetSpinningFriction (float mval) |
float | GetRestitution () |
The normal restitution coefficient, for collisions. More... | |
void | SetRestitution (float mval) |
float | GetCohesion () |
The cohesion max. More... | |
void | SetCohesion (float mval) |
float | GetDampingF () |
The damping in contact, as a factor 'f': damping is a multiple of stiffness [K], that is: [R]=f*[K] Measuring unit: time, s. More... | |
void | SetDampingF (float mval) |
float | GetCompliance () |
Compliance of the contact, in normal direction. More... | |
void | SetCompliance (float mval) |
float | GetComplianceT () |
Compliance of the contact, in tangential direction. More... | |
void | SetComplianceT (float mval) |
float | GetComplianceRolling () |
Rolling compliance of the contact, if using a nonzero rolling friction. More... | |
void | SetComplianceRolling (float mval) |
float | GetComplianceSpinning () |
Spinning compliance of the contact, if using a nonzero rolling friction. More... | |
void | SetComplianceSpinning (float mval) |
virtual void | ArchiveOUT (ChArchiveOut &marchive) override |
Method to allow serialization of transient data to archives. | |
virtual void | ArchiveIN (ChArchiveIn &marchive) override |
Method to allow deserialization of transient data from archives. | |
Additional Inherited Members | |
Public Types inherited from chrono::ChMaterialSurface | |
enum | ContactMethod { NSC, SMC } |
Member Function Documentation
◆ GetCohesion()
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inline |
The cohesion max.
force for normal pulling traction in contacts. Measuring unit: N Default =0.
◆ GetCompliance()
|
inline |
Compliance of the contact, in normal direction.
It is the inverse of the stiffness [K] , so for zero value one has a perfectly rigid contact. Measuring unit: m/N Default =0.
◆ GetComplianceRolling()
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inline |
Rolling compliance of the contact, if using a nonzero rolling friction.
(If there is no rolling friction, this has no effect.) Measuring unit: rad/Nm Default =0.
◆ GetComplianceSpinning()
|
inline |
Spinning compliance of the contact, if using a nonzero rolling friction.
(If there is no spinning friction, this has no effect.) Measuring unit: rad/Nm Default =0.
◆ GetComplianceT()
|
inline |
Compliance of the contact, in tangential direction.
Measuring unit: m/N Default =0.
◆ GetDampingF()
|
inline |
The damping in contact, as a factor 'f': damping is a multiple of stiffness [K], that is: [R]=f*[K] Measuring unit: time, s.
Default =0.
◆ GetKfriction()
|
inline |
The sliding ('kinetic')friction coefficient.
Default 0.6 Usually in 0..1 range, rarely above. Note: currently the static friction will be used instead, anyway, because of an issue in the solver.
◆ GetRestitution()
|
inline |
The normal restitution coefficient, for collisions.
Should be in 0..1 range. Default =0.
◆ GetRollingFriction()
|
inline |
The rolling friction (rolling parameter, it has the dimension of a length).
Rolling resistant torque is Tr <= (normal force) * (this parameter) Usually a very low value. Measuring unit: m Default =0. Note! a non-zero value will make the simulation 2x slower! Also, the GPU solver currently does not support rolling friction. Default: 0.
◆ GetSfriction()
|
inline |
The static friction coefficient.
Usually in 0..1 range, rarely above. Default 0.6
◆ GetSpinningFriction()
|
inline |
The spinning friction (it has the dimension of a length).
Spinning resistant torque is Ts <= (normal force) * (this parameter) Usually a very low value. Measuring unit: m Default =0. Note! a non-zero value will make the simulation 2x slower! Also, the GPU solver currently does not support spinning friction. Default: 0.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/physics/ChMaterialSurfaceNSC.h
- /builds/uwsbel/chrono/src/chrono/physics/ChMaterialSurfaceNSC.cpp