chrono::vehicle::RigidTerrain::Patch Class Reference

Description

Definition of a patch in a rigid terrain model.

#include <RigidTerrain.h>

Public Member Functions
void	SetContactFrictionCoefficient (float friction_coefficient)
	Set coefficient of friction. More...
void	SetContactRestitutionCoefficient (float restitution_coefficient)
	Set coefficient of restitution. More...
void	SetContactMaterialProperties (float young_modulus, float poisson_ratio)
	Set contact material properties. More...
void	SetContactMaterialCoefficients (float kn, float gn, float kt, float gt)
	Set contact material coefficients. More...
void	SetColor (const ChColor &color)
	Set visualization color. More...
void	SetTexture (const std::string &tex_file, float tex_scale_x=1, float tex_scale_y=1)
	Set texture properties. More...
std::shared_ptr< ChBody >	GetGroundBody () const
	Return a handle to the ground body.

Protected Member Functions
virtual bool	FindPoint (double x, double y, double &height, ChVector<> &normal) const =0
virtual void	ExportMeshPovray (const std::string &out_dir, bool smoothed=false)

Protected Attributes
PatchType	m_type
	type of this patch
std::shared_ptr< ChBody >	m_body
	associated body
float	m_friction
	coefficient of friction
double	m_radius
	bounding sphere radius

Friends
class	RigidTerrain

Member Function Documentation

SetColor()

void chrono::vehicle::RigidTerrain::Patch::SetColor

(

const ChColor &

color

)

Set visualization color.

Parameters

[in]

color

color of the visualization material

SetContactFrictionCoefficient()

void chrono::vehicle::RigidTerrain::Patch::SetContactFrictionCoefficient

(

float

friction_coefficient

)

Set coefficient of friction.

The default value is 0.7

SetContactMaterialCoefficients()

void chrono::vehicle::RigidTerrain::Patch::SetContactMaterialCoefficients	(	float	kn,
		float	gn,
		float	kt,
		float	gt
	)

Set contact material coefficients.

These values are used directly to compute contact forces (if the containing system is so configured and if the SMC contact method is being used). The default values are: kn=2e5, gn=40, kt=2e5, gt=20

Parameters

[in]	kn	normal contact stiffness
[in]	gn	normal contact damping
[in]	kt	tangential contact stiffness
[in]	gt	tangential contact damping

SetContactMaterialProperties()

void chrono::vehicle::RigidTerrain::Patch::SetContactMaterialProperties	(	float	young_modulus,
		float	poisson_ratio
	)

Set contact material properties.

These values are used to calculate contact material coefficients (if the containing system is so configured and if the SMC contact method is being used). The default values are: Y = 2e5 and nu = 0.3

Parameters

[in]	young_modulus	Young's modulus of elasticity
[in]	poisson_ratio	Poisson ratio

SetContactRestitutionCoefficient()

void chrono::vehicle::RigidTerrain::Patch::SetContactRestitutionCoefficient

(

float

restitution_coefficient

)

Set coefficient of restitution.

The default value is 0.1

SetTexture()

void chrono::vehicle::RigidTerrain::Patch::SetTexture	(	const std::string &	tex_file,
		float	tex_scale_x = 1,
		float	tex_scale_y = 1
	)

Set texture properties.

Parameters

[in]	tex_file	texture filename
[in]	tex_scale_x	texture scale in X
[in]	tex_scale_y	texture scale in Y

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

• /builds/uwsbel/chrono/src/chrono_vehicle/terrain/RigidTerrain.h
• /builds/uwsbel/chrono/src/chrono_vehicle/terrain/RigidTerrain.cpp