chrono::fea::ChContactNodeXYZROTsphere Class Reference
Description
Proxy to FEA nodes for collisions, with spheres associated to nodes, for point-cloud type of collisions.
#include <ChContactSurfaceNodeCloud.h>
Inheritance diagram for chrono::fea::ChContactNodeXYZROTsphere:
Collaboration diagram for chrono::fea::ChContactNodeXYZROTsphere:
Public Member Functions | |
ChContactNodeXYZROTsphere (ChNodeFEAxyzrot *anode=0, ChContactSurface *acontainer=0) | |
collision::ChCollisionModel * | GetCollisionModel () |
Public Member Functions inherited from chrono::fea::ChContactNodeXYZROT | |
ChContactNodeXYZROT (ChNodeFEAxyzrot *anode=0, ChContactSurface *acontainer=0) | |
ChNodeFEAxyzrot * | GetNode () |
Access the FEA node to whom this is is a proxy. | |
void | SetNode (ChNodeFEAxyzrot *mn) |
Set the FEA node to whom this is a proxy. | |
ChContactSurface * | GetContactSurface () const |
Get the contact surface container. | |
void | GetContactSurface (ChContactSurface *mc) |
Set the contact surface container. | |
virtual ChContactable::eChContactableType | GetContactableType () const override |
This must return the proper eChContactableType enum, for allowing a faster collision dispatcher in ChContactContainer classes (this enum will be used instead of slow dynamic_cast<> to infer the type of ChContactable, if possible) | |
virtual ChVariables * | GetVariables1 () override |
Access variables. | |
virtual bool | IsContactActive () override |
Tell if the object must be considered in collision detection. | |
virtual int | ContactableGet_ndof_x () override |
Get the number of DOFs affected by this object (position part) | |
virtual int | ContactableGet_ndof_w () override |
Get the number of DOFs affected by this object (speed part) | |
virtual void | ContactableGetStateBlock_x (ChState &x) override |
Get all the DOFs packed in a single vector (position part) | |
virtual void | ContactableGetStateBlock_w (ChStateDelta &w) override |
Get all the DOFs packed in a single vector (speed part) | |
virtual void | ContactableIncrementState (const ChState &x, const ChStateDelta &dw, ChState &x_new) override |
Increment the provided state of this object by the given state-delta increment. More... | |
virtual ChVector | GetContactPoint (const ChVector<> &loc_point, const ChState &state_x) override |
Express the local point in absolute frame, for the given state position. | |
virtual ChVector | GetContactPointSpeed (const ChVector<> &loc_point, const ChState &state_x, const ChStateDelta &state_w) override |
Get the absolute speed of a local point attached to the contactable. More... | |
virtual ChVector | GetContactPointSpeed (const ChVector<> &abs_point) override |
Get the absolute speed of point abs_point if attached to the surface. More... | |
virtual ChCoordsys | GetCsysForCollisionModel () override |
Return the coordinate system for the associated collision model. More... | |
virtual void | ContactForceLoadResidual_F (const ChVector<> &F, const ChVector<> &abs_point, ChVectorDynamic<> &R) override |
Apply the force, expressed in absolute reference, applied in pos, to the coordinates of the variables. More... | |
virtual void | ContactForceLoadQ (const ChVector<> &F, const ChVector<> &point, const ChState &state_x, ChVectorDynamic<> &Q, int offset) override |
Apply the given force at the given point and load the generalized force array. More... | |
virtual void | ComputeJacobianForContactPart (const ChVector<> &abs_point, ChMatrix33<> &contact_plane, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_N, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_U, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_V, bool second) override |
Compute the jacobian(s) part(s) for this contactable item. More... | |
virtual double | GetContactableMass () override |
This can be useful in some SMC code: | |
virtual std::shared_ptr< ChMaterialSurface > & | GetMaterialSurface () override |
Return the pointer to the surface material. | |
virtual ChPhysicsItem * | GetPhysicsItem () override |
This is only for backward compatibility. | |
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/fea/ChContactSurfaceNodeCloud.h
- /builds/uwsbel/chrono/src/chrono/fea/ChContactSurfaceNodeCloud.cpp