Description

Base class for items that can contain objects of ChVariables or ChConstraints, such as rigid bodies, mechanical joints, etc.

#include <ChPhysicsItem.h>

Inheritance diagram for chrono::ChPhysicsItem:

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Collaboration diagram for chrono::ChPhysicsItem:

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Public Member Functions
	ChPhysicsItem (const ChPhysicsItem &other)

virtual ChPhysicsItem *	Clone () const override
	"Virtual" copy constructor (covariant return type).

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 bool	GetCollide () const
	Tell if the object is subject to collision. More...

virtual void	SyncCollisionModels ()
	If this physical item contains one or more collision models, synchronize their coordinates and bounding boxes to the state of the item.

virtual void	AddCollisionModelsToSystem ()
	If this physical item contains one or more collision models, add them to the system's collision engine.

virtual void	RemoveCollisionModelsFromSystem ()
	If this physical item contains one or more collision models, remove them from the system's collision engine.

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 void	Update (double mytime, bool update_assets=true)
	This is an important function, which is called by the owner ChSystem at least once per integration step. More...

virtual void	Update (bool update_assets=true)
	As above, but does not require updating of time-dependent data. More...

virtual void	SetNoSpeedNoAcceleration ()
	Set zero speed (and zero accelerations) in state, without changing the position. More...

virtual int	GetDOF ()
	Get the number of scalar coordinates (variables), if any, in this item. More...

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	IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T)
	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)
	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)
	From item's state acceleration to global acceleration vector. More...

virtual void	IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a)
	From global acceleration vector to item's state acceleration. More...

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_F (const unsigned int off, ChVectorDynamic<> &R, const double c)
	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)
	Takes the Mv term, multiplying mass by a vector, scale and adds to R at given offset: R += cM*w. 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 += cCq'*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	IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc)
	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)
	After a solver solution, fetch values from variables and constraints into vectors: More...

virtual void	VariablesFbReset ()
	Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero.

virtual void	VariablesFbLoadForces (double factor=1)
	Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor.

virtual void	VariablesQbLoadSpeed ()
	Initialize the 'qb' part of the ChVariables with the current value of speeds. More...

virtual void	VariablesFbIncrementMq ()
	Adds M*q (masses multiplied current 'qb') to Fb, ex. More...

virtual void	VariablesQbSetSpeed (double step=0)
	Fetches the item speed (ex. More...

virtual void	VariablesQbIncrementPosition (double step)
	Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More...

virtual void	InjectVariables (ChSystemDescriptor &mdescriptor)
	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.

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...

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. 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 ()

Protected Attributes
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

Friends
class	ChSystem

Member Function Documentation

◆ ArchiveIN()

void chrono::ChPhysicsItem::ArchiveIN ( ChArchiveIn & marchive )

overridevirtual

Method to allow deserialization of transient data from archives.

Method to allow de serialization of transient data from archives.

Reimplemented from chrono::ChObj.

◆ ConstraintsFetch_react()

virtual void chrono::ChPhysicsItem::ConstraintsFetch_react ( double factor = 1 )

inlinevirtual

Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints.

Mostly used after the solver provided the solution in ChConstraints. Also, should convert the reactions obtained from dynamical simulation, from link space to intuitive react_force and react_torque.

Reimplemented in chrono::fea::ChLinkDirFrame, chrono::ChSystem, chrono::ChLinkLock, chrono::fea::ChLinkPointFrameGeneric, chrono::fea::ChLinkPointTrifaceRot, chrono::ChAssembly, chrono::ChShaftsBodyTranslation, chrono::ChLinkMateGeneric, chrono::ChContactContainerNSC, chrono::ChLinkMotorLinearDriveline, chrono::ChConveyor, chrono::ChLinkMotorRotationDriveline, chrono::ChLinkRevoluteTranslational, chrono::ChShaftsMotor, chrono::ChLinkRevoluteSpherical, chrono::ChLinkDistance, chrono::ChShaftsMotorSpeed, chrono::ChLinkUniversal, chrono::ChLinkRevolute, chrono::ChShaftsMotorAngle, chrono::fea::ChLinkPointTriface, chrono::fea::ChLinkBeamIGAslider, chrono::fea::ChLinkPointFrame, chrono::ChShaftsPlanetary, chrono::ChShaftsGearboxAngled, chrono::fea::ChLinkPointPoint, chrono::ChShaftsGearbox, chrono::ChShaftsBody, chrono::ChShaftsGear, and chrono::ChShaftsClutch.

◆ GetAssetsFrame()

virtual ChFrame chrono::ChPhysicsItem::GetAssetsFrame ( unsigned int nclone = 0 )

inlinevirtual

Get the master coordinate system for assets that have some geometric meaning.

It could be used, for example, by a visualization system to show a 3d shape of this item. Children classes might override this (for example, for a ChBody, this will return the coordinate system of the rigid body). Optional parameter 'nclone' can be used for items that contain 'clones' (ex. lot of particles with the same visualization shape), so the corresponding coordinate frame can be returned.

Reimplemented in chrono::ChBody, chrono::ChLinkMarkers, chrono::ChLinkMateGeneric, chrono::ChIndexedParticles, and chrono::ChLinkBase.

◆ GetAssetsFrameNclones()

virtual unsigned int chrono::ChPhysicsItem::GetAssetsFrameNclones ( )

inlinevirtual

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.

lot of particle with the same visualization shape). If so, returns Nclones >0 , the number of clones including the original. Then use GetAssetsFrame(n), n=0...Nclones-1, to access the corresponding coord.frame.

Reimplemented in chrono::ChIndexedParticles.

◆ GetCenter()

void chrono::ChPhysicsItem::GetCenter ( ChVector<> & mcenter )

virtual

Get a symbolic 'center' of the object.

By default this function returns the center of the AABB. It could be overridden by child classes, anyway it must always get a point that must be inside AABB.

◆ GetCollide()

virtual bool chrono::ChPhysicsItem::GetCollide ( ) const

inlinevirtual

Tell if the object is subject to collision.

Only for interface; child classes may override this, using internal flags.

Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChConveyor, chrono::fea::ChMesh, and chrono::ChBody.

◆ GetDOF()

virtual int chrono::ChPhysicsItem::GetDOF ( )

inlinevirtual

Get the number of scalar coordinates (variables), if any, in this item.

Children classes must override this.

Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChAssembly, chrono::ChBody, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChShaft, chrono::ChShaftsMotorSpeed, chrono::fea::ChMesh, chrono::ChConveyor, chrono::ChLinkMotorLinearSpeed, chrono::ChLinkMotorRotationSpeed, and chrono::ChIndexedParticles.

◆ GetDOF_w()

virtual int chrono::ChPhysicsItem::GetDOF_w ( )

inlinevirtual

Get the number of scalar coordinates of variables derivatives (usually = DOF, but might be different than DOF, ex.

DOF=4 for quaternions, but DOF_w = 3 for its Lie algebra, ex angular velocity) Children classes might override this.

Reimplemented in chrono::ChAssembly, chrono::ChBody, chrono::fea::ChMesh, chrono::ChConveyor, and chrono::ChIndexedParticles.

◆ GetTotalAABB()

void chrono::ChPhysicsItem::GetTotalAABB	(	ChVector<> &	bbmin,
		ChVector<> &	bbmax
	)

virtual

Get the entire AABB axis-aligned bounding box of the object.

The AABB must enclose the collision models, if any. By default is infinite AABB. Should be overridden by child classes.

Reimplemented in chrono::ChBody.

◆ IntFromDescriptor()

virtual void chrono::ChPhysicsItem::IntFromDescriptor	(	const unsigned int	off_v,
		ChStateDelta &	v,
		const unsigned int	off_L,
		ChVectorDynamic<> &	L
	)

inlinevirtual

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 in chrono::ChSystem, chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChLinkLock, chrono::fea::ChLinkPointFrameGeneric, chrono::fea::ChLinkPointTrifaceRot, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChShaftsBodyTranslation, chrono::ChLinkMateGeneric, chrono::ChContactContainerNSC, chrono::ChLinkMotorLinearDriveline, chrono::ChShaft, chrono::ChLinkMotorRotationDriveline, chrono::ChLinkRevoluteTranslational, chrono::ChConveyor, chrono::ChShaftsMotor, chrono::ChLinkRevoluteSpherical, chrono::ChShaftsMotorSpeed, chrono::ChLinkDistance, chrono::ChLinkUniversal, chrono::ChShaftsMotorAngle, chrono::ChLinkRevolute, chrono::fea::ChLinkPointTriface, chrono::fea::ChLinkBeamIGAslider, chrono::ChLinkMotorLinearSpeed, chrono::ChLinkMotorRotationSpeed, chrono::fea::ChLinkPointFrame, chrono::fea::ChLinkDirFrame, chrono::ChShaftsPlanetary, chrono::ChShaftsGearboxAngled, chrono::fea::ChLinkPointPoint, chrono::ChShaftsGearbox, chrono::ChShaftsBody, chrono::ChShaftsGear, and chrono::ChShaftsClutch.

◆ IntLoadConstraint_C()

virtual void chrono::ChPhysicsItem::IntLoadConstraint_C	(	const unsigned int	off,
		ChVectorDynamic<> &	Qc,
		const double	c,
		bool	do_clamp,
		double	recovery_clamp
	)

inlinevirtual

Takes the term C, scale and adds to Qc at given offset: Qc += c*C.

Parameters

off	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

Reimplemented in chrono::ChSystem, chrono::ChLinkLock, chrono::fea::ChLinkPointFrameGeneric, chrono::fea::ChLinkPointTrifaceRot, chrono::ChAssembly, chrono::ChShaftsBodyTranslation, chrono::ChLinkMateGeneric, chrono::ChLinkMotorLinearDriveline, chrono::ChContactContainerNSC, chrono::ChLinkMotorRotationDriveline, chrono::ChLinkRevoluteTranslational, chrono::ChConveyor, chrono::ChShaftsMotorSpeed, chrono::ChLinkRevoluteSpherical, chrono::ChShaftsMotor, chrono::ChLinkDistance, chrono::ChShaftsMotorAngle, chrono::ChLinkUniversal, chrono::ChLinkRevolute, chrono::fea::ChLinkPointTriface, chrono::fea::ChLinkBeamIGAslider, chrono::fea::ChLinkPointFrame, chrono::fea::ChLinkDirFrame, chrono::ChShaftsPlanetary, chrono::ChShaftsGearboxAngled, chrono::fea::ChLinkPointPoint, chrono::ChShaftsGearbox, chrono::ChShaftsBody, chrono::ChShaftsGear, and chrono::ChShaftsClutch.

◆ IntLoadConstraint_Ct()

virtual void chrono::ChPhysicsItem::IntLoadConstraint_Ct	(	const unsigned int	off,
		ChVectorDynamic<> &	Qc,
		const double	c
	)

inlinevirtual

Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct.

Parameters

off	offset in Qc residual
Qc	result: the Qc residual, Qc += c*Ct
c	a scaling factor

Reimplemented in chrono::ChSystem, chrono::ChLinkLock, chrono::ChAssembly, chrono::ChShaftsBodyTranslation, chrono::ChLinkMateGeneric, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChConveyor, chrono::ChShaftsMotorSpeed, chrono::ChShaftsMotor, chrono::ChShaftsMotorAngle, chrono::ChLinkMotorLinearSpeed, chrono::ChLinkMotorRotationSpeed, chrono::ChLinkMotionImposed, chrono::ChShaftsBody, chrono::ChLinkMotorLinearPosition, chrono::ChLinkMotorRotationAngle, and chrono::ChShaftsClutch.

◆ IntLoadResidual_CqL()

virtual void chrono::ChPhysicsItem::IntLoadResidual_CqL	(	const unsigned int	off_L,
		ChVectorDynamic<> &	R,
		const ChVectorDynamic<> &	L,
		const double	c
	)

inlinevirtual

Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L.

Parameters

off_L	offset in L multipliers
R	result: the R residual, R += cCq'L
L	the L vector
c	a scaling factor

Reimplemented in chrono::ChSystem, chrono::ChLinkLock, chrono::fea::ChLinkPointFrameGeneric, chrono::fea::ChLinkPointTrifaceRot, chrono::ChAssembly, chrono::ChShaftsBodyTranslation, chrono::ChLinkMateGeneric, chrono::ChLinkMotorLinearDriveline, chrono::ChContactContainerNSC, chrono::ChLinkMotorRotationDriveline, chrono::ChLinkRevoluteTranslational, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChLinkRevoluteSpherical, chrono::ChShaftsMotor, chrono::ChLinkDistance, chrono::ChShaftsMotorAngle, chrono::ChLinkUniversal, chrono::ChLinkRevolute, chrono::fea::ChLinkPointTriface, chrono::fea::ChLinkBeamIGAslider, chrono::fea::ChLinkPointFrame, chrono::fea::ChLinkDirFrame, chrono::ChShaftsPlanetary, chrono::ChShaftsGearboxAngled, chrono::fea::ChLinkPointPoint, chrono::ChShaftsGearbox, chrono::ChShaftsBody, chrono::ChShaftsGear, and chrono::ChShaftsClutch.

◆ IntLoadResidual_F()

virtual void chrono::ChPhysicsItem::IntLoadResidual_F	(	const unsigned int	off,
		ChVectorDynamic<> &	R,
		const double	c
	)

inlinevirtual

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 in chrono::ChSystem, chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMarkers, chrono::ChLinkMotorRotationDriveline, chrono::ChShaft, chrono::ChContactContainerSMC, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChShaftsMotor, chrono::ChLinkMotorLinearSpeed, chrono::ChLinkMotorRotationSpeed, chrono::ChShaftsMotorTorque, chrono::ChShaftsTorqueConverter, chrono::ChShaftsClutch, chrono::ChLinkMotorLinearForce, chrono::ChLinkMotorRotationTorque, chrono::ChLoadContainer, and chrono::ChShaftsTorqueBase.

◆ IntLoadResidual_Mv()

virtual void chrono::ChPhysicsItem::IntLoadResidual_Mv	(	const unsigned int	off,
		ChVectorDynamic<> &	R,
		const ChVectorDynamic<> &	w,
		const double	c
	)

inlinevirtual

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 += cMv
w	the w vector
c	a scaling factor

Reimplemented in chrono::ChSystem, chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChShaft, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.

◆ IntStateGather()

virtual void chrono::ChPhysicsItem::IntStateGather	(	const unsigned int	off_x,
		ChState &	x,
		const unsigned int	off_v,
		ChStateDelta &	v,
		double &	T
	)

inlinevirtual

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 in chrono::ChSystem, chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChShaft, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.

◆ IntStateGatherAcceleration()

virtual void chrono::ChPhysicsItem::IntStateGatherAcceleration	(	const unsigned int	off_a,
		ChStateDelta &	a
	)

inlinevirtual

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 in chrono::ChSystem, chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChShaft, chrono::ChLinkMotorRotationDriveline, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.

◆ IntStateGatherReactions()

virtual void chrono::ChPhysicsItem::IntStateGatherReactions	(	const unsigned int	off_L,
		ChVectorDynamic<> &	L
	)

inlinevirtual

From item's reaction forces to global reaction vector.

Parameters

off_L	offset in L vector
L	L vector of reaction forces

Reimplemented in chrono::ChSystem, chrono::ChLinkLock, chrono::fea::ChLinkPointFrameGeneric, chrono::fea::ChLinkPointTrifaceRot, chrono::ChAssembly, chrono::ChShaftsBodyTranslation, chrono::ChLinkMateGeneric, chrono::ChLinkMotorLinearDriveline, chrono::ChContactContainerNSC, chrono::ChLinkMotorRotationDriveline, chrono::ChLinkRevoluteTranslational, chrono::ChShaftsMotorSpeed, chrono::ChLinkRevoluteSpherical, chrono::ChShaftsMotor, chrono::ChConveyor, chrono::ChLinkDistance, chrono::ChShaftsMotorAngle, chrono::ChLinkUniversal, chrono::ChLinkRevolute, chrono::fea::ChLinkPointTriface, chrono::fea::ChLinkBeamIGAslider, chrono::fea::ChLinkPointFrame, chrono::fea::ChLinkDirFrame, chrono::ChShaftsPlanetary, chrono::ChShaftsGearboxAngled, chrono::fea::ChLinkPointPoint, chrono::ChShaftsGearbox, chrono::ChShaftsBody, chrono::ChShaftsGear, and chrono::ChShaftsClutch.

◆ IntStateIncrement()

virtual void chrono::ChPhysicsItem::IntStateIncrement	(	const unsigned int	off_x,
		ChState &	x_new,
		const ChState &	x,
		const unsigned int	off_v,
		const ChStateDelta &	Dv
	)

inlinevirtual

Computes x_new = x + Dt , using vectors at specified offsets.

By default, when DOF = DOF_w, it does just the sum, but in some cases (ex when using quaternions for rotations) it could do more complex stuff, and children classes might overload it.

Parameters

off_x	offset in x state vector
x_new	state vector, position part, incremented result
x	state vector, initial position part
off_v	offset in v state vector
Dv	state vector, increment

Reimplemented in chrono::ChSystem, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, and chrono::ChConveyor.

◆ IntStateScatter()

virtual void chrono::ChPhysicsItem::IntStateScatter	(	const unsigned int	off_x,
		const ChState &	x,
		const unsigned int	off_v,
		const ChStateDelta &	v,
		const double	T
	)

inlinevirtual

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 in chrono::ChSystem, chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChShaft, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.

◆ IntStateScatterAcceleration()

virtual void chrono::ChPhysicsItem::IntStateScatterAcceleration	(	const unsigned int	off_a,
		const ChStateDelta &	a
	)

inlinevirtual

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 in chrono::ChSystem, chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChShaft, chrono::ChLinkMotorRotationDriveline, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.

◆ IntStateScatterReactions()

virtual void chrono::ChPhysicsItem::IntStateScatterReactions	(	const unsigned int	off_L,
		const ChVectorDynamic<> &	L
	)

inlinevirtual

From global reaction vector to item's reaction forces.

Parameters

off_L	offset in L vector
L	L vector of reaction forces

Reimplemented in chrono::ChSystem, chrono::ChLinkLock, chrono::fea::ChLinkPointFrameGeneric, chrono::fea::ChLinkPointTrifaceRot, chrono::ChAssembly, chrono::ChShaftsBodyTranslation, chrono::ChLinkMateGeneric, chrono::ChLinkMotorLinearDriveline, chrono::ChContactContainerNSC, chrono::ChLinkMotorRotationDriveline, chrono::ChLinkRevoluteTranslational, chrono::ChShaftsMotorSpeed, chrono::ChLinkRevoluteSpherical, chrono::ChShaftsMotor, chrono::ChConveyor, chrono::ChLinkDistance, chrono::ChShaftsMotorAngle, chrono::ChLinkUniversal, chrono::ChLinkRevolute, chrono::fea::ChLinkPointTriface, chrono::fea::ChLinkBeamIGAslider, chrono::fea::ChLinkPointFrame, chrono::fea::ChLinkDirFrame, chrono::ChShaftsPlanetary, chrono::ChShaftsGearboxAngled, chrono::fea::ChLinkPointPoint, chrono::ChShaftsGearbox, chrono::ChShaftsBody, chrono::ChShaftsGear, and chrono::ChShaftsClutch.

◆ IntToDescriptor()

virtual void chrono::ChPhysicsItem::IntToDescriptor	(	const unsigned int	off_v,
		const ChStateDelta &	v,
		const ChVectorDynamic<> &	R,
		const unsigned int	off_L,
		const ChVectorDynamic<> &	L,
		const ChVectorDynamic<> &	Qc
	)

inlinevirtual

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 in chrono::ChSystem, chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChLinkLock, chrono::fea::ChLinkPointFrameGeneric, chrono::fea::ChLinkPointTrifaceRot, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChShaftsBodyTranslation, chrono::ChLinkMateGeneric, chrono::ChLinkMotorLinearDriveline, chrono::ChContactContainerNSC, chrono::ChLinkMotorRotationDriveline, chrono::ChShaft, chrono::ChLinkRevoluteTranslational, chrono::ChConveyor, chrono::ChShaftsMotorSpeed, chrono::ChShaftsMotor, chrono::ChLinkRevoluteSpherical, chrono::ChLinkDistance, chrono::ChShaftsMotorAngle, chrono::ChLinkUniversal, chrono::ChLinkRevolute, chrono::fea::ChLinkPointTriface, chrono::fea::ChLinkBeamIGAslider, chrono::ChLinkMotorLinearSpeed, chrono::ChLinkMotorRotationSpeed, chrono::fea::ChLinkPointFrame, chrono::fea::ChLinkDirFrame, chrono::ChShaftsPlanetary, chrono::ChShaftsGearboxAngled, chrono::fea::ChLinkPointPoint, chrono::ChShaftsGearbox, chrono::ChShaftsBody, chrono::ChShaftsGear, and chrono::ChShaftsClutch.

◆ KRMmatricesLoad()

virtual void chrono::ChPhysicsItem::KRMmatricesLoad	(	double	Kfactor,
		double	Rfactor,
		double	Mfactor
	)

inlinevirtual

Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any.

The K, R, M matrices are added with scaling values Kfactor, Rfactor, Mfactor. NOTE: signs are flipped respect to the ChTimestepper dF/dx terms: K = -dF/dq, R = -dF/dv

Reimplemented in chrono::ChSystem, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChContactContainerSMC, and chrono::ChLoadContainer.

◆ SetNoSpeedNoAcceleration()

virtual void chrono::ChPhysicsItem::SetNoSpeedNoAcceleration ( )

inlinevirtual

Set zero speed (and zero accelerations) in state, without changing the position.

Child classes should implement this function if GetDOF() > 0. It is used by owner ChSystem for some static analysis.

Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChShaft, chrono::ChAssembly, chrono::ChBody, and chrono::fea::ChMesh.

◆ Update() [1/2]

virtual void chrono::ChPhysicsItem::Update ( bool update_assets = true )

inlinevirtual

As above, but does not require updating of time-dependent data.

By default, calls Update(mytime) using item's current time.

Reimplemented in chrono::ChBody, chrono::ChMatterSPH, chrono::ChParticlesClones, chrono::fea::ChMatterMeshless, chrono::ChSystem, chrono::ChAssembly, chrono::ChLink, and chrono::ChBodyAuxRef.

◆ Update() [2/2]

void chrono::ChPhysicsItem::Update	(	double	mytime,
		bool	update_assets = `true`
	)

virtual

This is an important function, which is called by the owner ChSystem at least once per integration step.

It may update all auxiliary data of the item, such as matrices if any, etc., depending on the current coordinates. The inherited classes, for example the ChLinkMask, often implement specialized versions of this Update(time) function, because they might need to update inner states, forces, springs, etc. This base version, by default, simply updates the item's time, and update the asset tree, if any.

◆ VariablesFbIncrementMq()

virtual void chrono::ChPhysicsItem::VariablesFbIncrementMq ( )

inlinevirtual

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 in chrono::ChSystem, chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChShaft, chrono::ChLinkMotorRotationDriveline, chrono::ChConveyor, chrono::ChShaftsMotorSpeed, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.

◆ VariablesQbIncrementPosition()

virtual void chrono::ChPhysicsItem::VariablesQbIncrementPosition ( double step )

inlinevirtual

Increment item positions by the 'qb' part of the ChVariables, 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).

Reimplemented in chrono::ChSystem, chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::fea::ChMesh, chrono::ChAssembly, chrono::ChShaft, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, and chrono::ChConveyor.

◆ VariablesQbLoadSpeed()

virtual void chrono::ChPhysicsItem::VariablesQbLoadSpeed ( )

inlinevirtual

Initialize the 'qb' part of the ChVariables with the current value of speeds.

Note: since 'qb' is the unknown, this function seems unnecessary, unless used before VariablesFbIncrementMq()

Reimplemented in chrono::ChSystem, chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChShaft, chrono::ChLinkMotorRotationDriveline, chrono::ChConveyor, chrono::ChShaftsMotorSpeed, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.

◆ VariablesQbSetSpeed()

virtual void chrono::ChPhysicsItem::VariablesQbSetSpeed ( double step = 0 )

inlinevirtual

Fetches the item speed (ex.

linear and angular vel.in rigid bodies) from the 'qb' part of the ChVariables and sets it as the current item speed. If 'step' is not 0, also should compute the approximate acceleration of the item using backward differences, that is accel=(new_speed-old_speed)/step. Mostly used after the solver provided the solution in ChVariables.

Reimplemented in chrono::ChSystem, chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChShaft, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChConveyor, chrono::ChShaftsMotorSpeed, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.

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

/builds/uwsbel/chrono/src/chrono/physics/ChPhysicsItem.h
/builds/uwsbel/chrono/src/chrono/physics/ChPhysicsItem.cpp

Description

Public Member Functions

Protected Attributes

Friends

Member Function Documentation

◆ ArchiveIN()

◆ ConstraintsFetch_react()

◆ GetAssetsFrame()

◆ GetAssetsFrameNclones()

◆ GetCenter()

◆ GetCollide()

◆ GetDOF()

◆ GetDOF_w()

◆ GetTotalAABB()

◆ IntFromDescriptor()

◆ IntLoadConstraint_C()

◆ IntLoadConstraint_Ct()

◆ IntLoadResidual_CqL()

◆ IntLoadResidual_F()

◆ IntLoadResidual_Mv()

◆ IntStateGather()

◆ IntStateGatherAcceleration()

◆ IntStateGatherReactions()

◆ IntStateIncrement()

◆ IntStateScatter()

◆ IntStateScatterAcceleration()

◆ IntStateScatterReactions()

◆ IntToDescriptor()

◆ KRMmatricesLoad()

◆ SetNoSpeedNoAcceleration()

◆ Update() [1/2]

◆ Update() [2/2]

◆ VariablesFbIncrementMq()

◆ VariablesQbIncrementPosition()

◆ VariablesQbLoadSpeed()

◆ VariablesQbSetSpeed()