Description
Class for clusters of point nodes that can simulate a fluid or an elastic/plastic solid with the Smooth Particle Hydrodynamics (SPH) approach, that is with a 'meshless' FEA approach.
#include <ChMatterSPH.h>
Public Member Functions | |
ChMatterSPH () | |
Build a cluster of nodes for SPH and meshless FEM. More... | |
ChMatterSPH (const ChMatterSPH &other) | |
virtual ChMatterSPH * | Clone () const override |
"Virtual" copy constructor (covariant return type). | |
void | SetCollide (bool mcoll) |
Enable/disable the collision for this cluster of particles. More... | |
virtual bool | GetCollide () const override |
Tell if the object is subject to collision. More... | |
virtual int | GetDOF () override |
Get the number of scalar coordinates (variables), if any, in this item. | |
virtual unsigned int | GetNnodes () const override |
Get the number of nodes. | |
virtual std::shared_ptr< ChNodeBase > | GetNode (unsigned int n) override |
Access the N-th node. | |
void | ResizeNnodes (int newsize) |
Resize the node cluster. More... | |
void | AddNode (ChVector< double > initial_state) |
Add a new node to the particle cluster, passing a vector as initial position. | |
void | SetMaterialSurface (const std::shared_ptr< ChMaterialSurface > &mnewsurf) |
Set the material surface for 'boundary contact'. | |
std::shared_ptr< ChMaterialSurface > & | GetMaterialSurface () |
Set the material surface for 'boundary contact'. | |
virtual void | IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) override |
From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More... | |
virtual void | IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T) override |
From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More... | |
virtual void | IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) override |
From item's state acceleration to global acceleration vector. More... | |
virtual void | IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) override |
From global acceleration vector to item's state acceleration. More... | |
virtual void | IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override |
Takes the F force term, scale and adds to R at given offset: R += c*F. More... | |
virtual void | IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) override |
Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w. More... | |
virtual void | IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) override |
Prepare variables and constraints to accommodate a solution: More... | |
virtual void | IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) override |
After a solver solution, fetch values from variables and constraints into vectors: More... | |
virtual void | VariablesFbReset () override |
Sets the 'fb' part of the encapsulated ChVariablesBody to zero. | |
virtual void | VariablesFbLoadForces (double factor=1) override |
Adds the current forces applied to body (including gyroscopic torque) in encapsulated ChVariablesBody, in the 'fb' part: qf+=forces*factor. | |
virtual void | VariablesQbLoadSpeed () override |
Initialize the 'qb' part of the ChVariablesBody with the current value of body speeds. More... | |
virtual void | VariablesFbIncrementMq () override |
Adds M*q (masses multiplied current 'qb') to Fb, ex. More... | |
virtual void | VariablesQbSetSpeed (double step=0) override |
Fetches the body speed (both linear and angular) from the 'qb' part of the ChVariablesBody (does not updates the full body&markers state) and sets it as the current body speed. More... | |
virtual void | VariablesQbIncrementPosition (double step) override |
Increment body position by the 'qb' part of the ChVariablesBody, multiplied by a 'step' factor. More... | |
virtual void | InjectVariables (ChSystemDescriptor &mdescriptor) override |
Tell to a system descriptor that there are variables of type ChVariables in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. | |
void | SetNoSpeedNoAcceleration () override |
Set no speed and no accelerations (but does not change the position) | |
virtual void | SyncCollisionModels () override |
Synchronize coll.models coordinates and bounding boxes to the positions of the particles. | |
virtual void | AddCollisionModelsToSystem () override |
If this physical item contains one or more collision models, add them to the system's collision engine. | |
virtual void | RemoveCollisionModelsFromSystem () override |
If this physical item contains one or more collision models, remove them from the system's collision engine. | |
void | UpdateParticleCollisionModels () |
ChContinuumSPH & | GetMaterial () |
Access the material. | |
void | FillBox (const ChVector<> size, const double spacing, const double initial_density, const ChCoordsys<> cords=CSYSNORM, const bool do_centeredcube=true, const double kernel_sfactor=2.2, const double randomness=0.0) |
Initialize the fluid as a prismatic region filled with nodes, initially well ordered as a lattice. More... | |
virtual void | Update (double mytime, bool update_assets=true) override |
Update all auxiliary data of the particles. | |
virtual void | Update (bool update_assets=true) override |
Update all auxiliary data of the particles. | |
virtual void | ArchiveOUT (ChArchiveOut &marchive) override |
Add a new node to the particle cluster, passing a vector as initial position. More... | |
virtual void | ArchiveIN (ChArchiveIn &marchive) override |
Method to allow de serialization of transient data from archives. | |
Public Member Functions inherited from chrono::ChIndexedNodes | |
ChIndexedNodes (const ChIndexedNodes &other) | |
Public Member Functions inherited from chrono::ChPhysicsItem | |
ChPhysicsItem (const ChPhysicsItem &other) | |
ChSystem * | GetSystem () const |
Get the pointer to the parent ChSystem() | |
virtual void | SetSystem (ChSystem *m_system) |
Set the pointer to the parent ChSystem() and also add to new collision system / remove from old coll.system. | |
void | AddAsset (std::shared_ptr< ChAsset > masset) |
Add an optional asset (it can be used to define visualization shapes, es ChSphereShape, or textures, or custom attached properties that the user can define by creating his class inherited from ChAsset) | |
std::vector< std::shared_ptr< ChAsset > > & | GetAssets () |
Access to the list of optional assets. | |
std::shared_ptr< ChAsset > | GetAssetN (unsigned int num) |
Access the Nth asset in the list of optional assets. | |
virtual ChFrame | GetAssetsFrame (unsigned int nclone=0) |
Get the master coordinate system for assets that have some geometric meaning. More... | |
virtual unsigned int | GetAssetsFrameNclones () |
Optionally, a ChPhysicsItem can return multiple asset coordinate systems; this can be helpful if, for example, when a ChPhysicsItem contains 'clones' with the same assets (ex. More... | |
virtual void | GetTotalAABB (ChVector<> &bbmin, ChVector<> &bbmax) |
Get the entire AABB axis-aligned bounding box of the object. More... | |
virtual void | GetCenter (ChVector<> &mcenter) |
Get a symbolic 'center' of the object. More... | |
virtual void | StreamINstate (ChStreamInBinary &mstream) |
Method to deserialize only the state (position, speed) Must be implemented by child classes. | |
virtual void | StreamOUTstate (ChStreamOutBinary &mstream) |
Method to serialize only the state (position, speed) Must be implemented by child classes. | |
virtual void | Setup () |
This might recompute the number of coordinates, DOFs, constraints, in case this might change (ex in ChAssembly), as well as state offsets of contained items (ex in ChMesh) | |
virtual int | GetDOF_w () |
Get the number of scalar coordinates of variables derivatives (usually = DOF, but might be different than DOF, ex. More... | |
virtual int | GetDOC () |
Get the number of scalar constraints, if any, in this item. | |
virtual int | GetDOC_c () |
Get the number of scalar constraints, if any, in this item (only bilateral constr.) Children classes might override this. | |
virtual int | GetDOC_d () |
Get the number of scalar constraints, if any, in this item (only unilateral constr.) Children classes might override this. | |
unsigned int | GetOffset_x () |
Get offset in the state vector (position part) | |
unsigned int | GetOffset_w () |
Get offset in the state vector (speed part) | |
unsigned int | GetOffset_L () |
Get offset in the lagrangian multipliers. | |
void | SetOffset_x (const unsigned int moff) |
Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this. | |
void | SetOffset_w (const unsigned int moff) |
Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this. | |
void | SetOffset_L (const unsigned int moff) |
Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this. | |
virtual void | IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) |
From item's reaction forces to global reaction vector. More... | |
virtual void | IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) |
From global reaction vector to item's reaction forces. More... | |
virtual void | IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) |
Computes x_new = x + Dt , using vectors at specified offsets. More... | |
virtual void | IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) |
Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L. More... | |
virtual void | IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) |
Takes the term C, scale and adds to Qc at given offset: Qc += c*C. More... | |
virtual void | IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c) |
Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More... | |
virtual void | InjectConstraints (ChSystemDescriptor &mdescriptor) |
Tell to a system descriptor that there are constraints of type ChConstraint in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. | |
virtual void | ConstraintsBiReset () |
Sets to zero the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false) |
Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsBiLoad_Ct (double factor=1) |
Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsBiLoad_Qc (double factor=1) |
Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsFbLoadForces (double factor=1) |
Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints. | |
virtual void | ConstraintsLoadJacobians () |
Adds the current jacobians in encapsulated ChConstraints. | |
virtual void | ConstraintsFetch_react (double factor=1) |
Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More... | |
virtual void | InjectKRMmatrices (ChSystemDescriptor &mdescriptor) |
Tell to a system descriptor that there are items of type ChKblock in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. | |
virtual void | KRMmatricesLoad (double Kfactor, double Rfactor, double Mfactor) |
Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any. More... | |
Public Member Functions inherited from chrono::ChObj | |
ChObj (const ChObj &other) | |
int | GetIdentifier () const |
Gets the numerical identifier of the object. | |
void | SetIdentifier (int id) |
Sets the numerical identifier of the object. | |
double | GetChTime () const |
Gets the simulation time of this object. | |
void | SetChTime (double m_time) |
Sets the simulation time of this object. | |
const char * | GetName () const |
Gets the name of the object as C Ascii null-terminated string -for reading only! | |
void | SetName (const char myname[]) |
Sets the name of this object, as ascii string. | |
std::string | GetNameString () const |
Gets the name of the object as C Ascii null-terminated string. | |
void | SetNameString (const std::string &myname) |
Sets the name of this object, as std::string. | |
void | MFlagsSetAllOFF (int &mflag) |
void | MFlagsSetAllON (int &mflag) |
void | MFlagSetON (int &mflag, int mask) |
void | MFlagSetOFF (int &mflag, int mask) |
int | MFlagGet (int &mflag, int mask) |
virtual std::string & | ArchiveContainerName () |
Additional Inherited Members | |
Protected Attributes inherited from chrono::ChPhysicsItem | |
ChSystem * | system |
parent system | |
std::vector< std::shared_ptr< ChAsset > > | assets |
set of assets | |
unsigned int | offset_x |
offset in vector of state (position part) | |
unsigned int | offset_w |
offset in vector of state (speed part) | |
unsigned int | offset_L |
offset in vector of lagrangian multipliers | |
Protected Attributes inherited from chrono::ChObj | |
double | ChTime |
the time of simulation for the object | |
Constructor & Destructor Documentation
◆ ChMatterSPH()
chrono::ChMatterSPH::ChMatterSPH | ( | ) |
Build a cluster of nodes for SPH and meshless FEM.
By default the cluster will contain 0 particles.
Member Function Documentation
◆ ArchiveOUT()
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overridevirtual |
Add a new node to the particle cluster, passing a vector as initial position.
Resize the node cluster. Also clear the state of previously created particles, if any. Number of coordinates of the node cluster Method to allow serialization of transient data to archives.
Reimplemented from chrono::ChIndexedNodes.
◆ FillBox()
void chrono::ChMatterSPH::FillBox | ( | const ChVector<> | size, |
const double | spacing, | ||
const double | initial_density, | ||
const ChCoordsys<> | cords = CSYSNORM , |
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const bool | do_centeredcube = true , |
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const double | kernel_sfactor = 2.2 , |
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const double | randomness = 0.0 |
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) |
Initialize the fluid as a prismatic region filled with nodes, initially well ordered as a lattice.
This is a helper function so that you avoid to create all nodes one by one with many calls to AddNode() .
- Parameters
-
size x,y,z sizes of the box to fill (better if integer multiples of spacing) spacing the spacing between two near nodes initial_density density of the material inside the box, for initialization of node's masses cords position and rotation of the box do_centeredcube if false, array is simply cubic, if true is centered cubes (highest regularity) kernel_sfactor the radius of kernel of the particle is 'spacing' multiplied this value randomness randomness of the initial distribution lattice, 0...1
◆ GetCollide()
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inlineoverridevirtual |
Tell if the object is subject to collision.
Only for interface; child classes may override this, using internal flags.
Reimplemented from chrono::ChPhysicsItem.
◆ IntFromDescriptor()
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overridevirtual |
After a solver solution, fetch values from variables and constraints into vectors:
- Parameters
-
off_v offset for v v vector to where the q 'unknowns' term of the variables will be copied off_L offset for L L vector to where L 'lagrangian ' term of the constraints will be copied
Reimplemented from chrono::ChPhysicsItem.
◆ IntLoadResidual_F()
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overridevirtual |
Takes the F force term, scale and adds to R at given offset: R += c*F.
- Parameters
-
off offset in R residual R result: the R residual, R += c*F c a scaling factor
Reimplemented from chrono::ChPhysicsItem.
◆ IntLoadResidual_Mv()
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overridevirtual |
Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w.
- Parameters
-
off offset in R residual R result: the R residual, R += c*M*v w the w vector c a scaling factor
Reimplemented from chrono::ChPhysicsItem.
◆ IntStateGather()
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overridevirtual |
From item's state to global state vectors y={x,v} pasting the states at the specified offsets.
- Parameters
-
off_x offset in x state vector x state vector, position part off_v offset in v state vector v state vector, speed part T time
Reimplemented from chrono::ChPhysicsItem.
◆ IntStateGatherAcceleration()
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overridevirtual |
From item's state acceleration to global acceleration vector.
- Parameters
-
off_a offset in a accel. vector a acceleration part of state vector derivative
Reimplemented from chrono::ChPhysicsItem.
◆ IntStateScatter()
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overridevirtual |
From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets.
- Parameters
-
off_x offset in x state vector x state vector, position part off_v offset in v state vector v state vector, speed part T time
Reimplemented from chrono::ChPhysicsItem.
◆ IntStateScatterAcceleration()
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overridevirtual |
From global acceleration vector to item's state acceleration.
- Parameters
-
off_a offset in a accel. vector a acceleration part of state vector derivative
Reimplemented from chrono::ChPhysicsItem.
◆ IntToDescriptor()
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overridevirtual |
Prepare variables and constraints to accommodate a solution:
- Parameters
-
off_v offset for v and R v vector that will be copied into the q 'unknowns' term of the variables (for warm starting) R vector that will be copied into the F 'force' term of the variables off_L offset for L and Qc L vector that will be copied into the L 'lagrangian ' term of the constraints (for warm starting) Qc vector that will be copied into the Qb 'constraint' term of the constraints
Reimplemented from chrono::ChPhysicsItem.
◆ ResizeNnodes()
void chrono::ChMatterSPH::ResizeNnodes | ( | int | newsize | ) |
Resize the node cluster.
Also clear the state of previously created particles, if any.
◆ SetCollide()
void chrono::ChMatterSPH::SetCollide | ( | bool | mcoll | ) |
Enable/disable the collision for this cluster of particles.
After setting ON, remember RecomputeCollisionModel() before anim starts (it is not automatically recomputed here because of performance issues.)
◆ VariablesFbIncrementMq()
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overridevirtual |
Adds M*q (masses multiplied current 'qb') to Fb, ex.
if qb is initialized with v_old using VariablesQbLoadSpeed, this method can be used in timestepping schemes that do: M*v_new = M*v_old + forces*dt
Reimplemented from chrono::ChPhysicsItem.
◆ VariablesQbIncrementPosition()
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overridevirtual |
Increment body position by the 'qb' part of the ChVariablesBody, multiplied by a 'step' factor.
pos+=qb*step If qb is a speed, this behaves like a single step of 1-st order numerical integration (Eulero integration). Does not automatically update markers & forces.
Reimplemented from chrono::ChPhysicsItem.
◆ VariablesQbLoadSpeed()
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overridevirtual |
Initialize the 'qb' part of the ChVariablesBody with the current value of body speeds.
Note: since 'qb' is the unknown, this function seems unuseful, unless used before VariablesFbIncrementMq()
Reimplemented from chrono::ChPhysicsItem.
◆ VariablesQbSetSpeed()
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overridevirtual |
Fetches the body speed (both linear and angular) from the 'qb' part of the ChVariablesBody (does not updates the full body&markers state) and sets it as the current body speed.
If 'step' is not 0, also computes the approximate acceleration of the body using backward differences, that is accel=(new_speed-old_speed)/step. Mostly used after the solver provided the solution in ChVariablesBody .
Reimplemented from chrono::ChPhysicsItem.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/physics/ChMatterSPH.h
- /builds/uwsbel/chrono/src/chrono/physics/ChMatterSPH.cpp