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::ChContactNodeXYZsphere:

Collaboration diagram for chrono::fea::ChContactNodeXYZsphere:

Public Member Functions
	ChContactNodeXYZsphere (ChNodeFEAxyz anode=0, ChContactSurface acontainer=0)

collision::ChCollisionModel *	GetCollisionModel ()

Public Member Functions inherited from chrono::fea::ChContactNodeXYZ
	ChContactNodeXYZ (ChNodeFEAxyz anode=0, ChContactSurface acontainer=0)

ChNodeFEAxyz *	GetNode ()
	Access the FEA node to whom this is is a proxy.

void	SetNode (ChNodeFEAxyz *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, type_constraint_tuple &jacobian_tuple_N, type_constraint_tuple &jacobian_tuple_U, 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

Description

Public Member Functions