chrono Namespace Reference

Description

Main namespace for the Chrono package.

Namespaces
	AssemblyLevel
	Enumerations for assembly level.
	cascade
	Namespace with classes for the OpenCASCADE unit.
	collision
	Namespace with classes for collision detection.
	cosimul
	Namespace with classes for the cosimulation module.
	fea
	Namespace for FEA classes.
	fsi
	Namespace with classes for the FSI module.
	geometry
	Namespace for classes which represent basic geometric objects.
	granular
	Namespace with classes for the Granular module.
	irrlicht
	Namespace with classes for the Irrlicht module.
	opengl
	Namespace with classes for the Chrono::OpenGL module.
	particlefactory
	Namespace for classes that generate flows of particles.
	postprocess
	Namespace with classes for the POSTPROCESS module.
	utils
	Chrono core utilities.
	vehicle
	Namespace with classes for the VEHICLE module.

Classes
struct	BodyExchange
	Structure of data for sending a new body to a rank. More...
struct	BodyUpdate
	Structure of data for sending an update of an existing body to a rank. More...
class	Ch3DOFContainer
	Base class for containers of elements with 3 degrees of freedom (fluid nodes, particles, FEA nodes). More...
struct	Ch_enable_bitmask_operators
	Helper for adding bitmask operators | ^ & etc. More...
class	ChAparticle
	Class for a single particle clone in the ChParticlesClones cluster. More...
class	ChArchive
	This is a base class for archives with pointers to shared objects. More...
class	ChArchiveAsciiDump
	ASCII 'LOG' ARCHIVES (only output, for debugging etc.) More...
class	ChArchiveExplorer
	A helper class to provide some basic mechanism of C++ reflection (introspection). More...
class	ChArchiveIn
	This is a base class for serializing from archives. More...
class	ChArchiveInBinary
	This is a class for serializing from binary archives. More...
class	ChArchiveInJSON
	This is a class for deserializing from JSON archives. More...
class	ChArchiveInXML
	This is a class for deserializing from XML archives. More...
class	ChArchiveOut
	This is a base class for serializing into archives. More...
class	ChArchiveOutBinary
	This is a class for serializing to binary archives. More...
class	ChArchiveOutJSON
	This is a class for serializing to JSON. More...
class	ChArchiveOutXML
	This is a class for serializing to XML file format. More...
class	ChAssembly
	Class for assemblies of items, for example ChBody, ChLink, ChMesh, etc. More...
class	ChAssemblyAnalysis
	Class for assembly analysis. More...
class	ChAsset
	Classes for adding user data (such as rendering shapes, reference to files) to ChPhysicsItem objects. More...
class	ChAssetLevel
	Class for grouping assets in a level. More...
class	ChBezierCurve
	Definition of a piece-wise cubic Bezier approximation of a 3D curve. More...
class	ChBezierCurveTracker
	Definition of a tracker on a ChBezierCurve path. More...
class	ChBinaryArchive
	Base class for streams (either in or out) based on binary formats. More...
class	ChBody
	Class for rigid bodies. More...
class	ChBodyAuxRef
	Class for rigid bodies with an auxiliary reference frame. More...
class	ChBodyEasyBox
	Easy-to-use class for quick creation of rigid bodies with a box shape. More...
class	ChBodyEasyClusterOfSpheres
	Easy-to-use class for quick creation of rigid bodies with a shape made of a cluster of spheres. More...
class	ChBodyEasyConvexHull
	Easy-to-use class for quick creation of rigid bodies with a convex hull shape. More...
class	ChBodyEasyConvexHullAuxRef
	Easy-to-use class for quick creation of rigid bodies with a convex hull shape, that has a REF csys distinct from the COG cys (this is helpful because in many cases the convex hull might have an offset barycenter with respect to the reference that we want to use for the body - otherwise use the simpler ChBodyEasyConvexHull) This class does automatically, at object creation: More...
class	ChBodyEasyCylinder
	Easy-to-use class for quick creation of rigid bodies with a cylindrical shape. More...
class	ChBodyEasyEllipsoid
	Easy-to-use class for quick creation of rigid bodies with an ellipsoid shape. More...
class	ChBodyEasyMesh
	Easy-to-use class for quick creation of rigid bodies with a triangle mesh shape, that has a REF csys distinct from the COG cys (this is helpful because in many cases the mesh might have an offset barycenter with respect to the reference that we want to use for the body) This class does automatically, at object creation: More...
class	ChBodyEasySphere
	Easy-to-use class for quick creation of rigid bodies with a spherical shape. More...
class	ChBodyFrame
	Class for objects that represent moving frames in space and that contain ChVariables proxies to the solver. More...
class	ChBoundary
	Utility class for specifying a collision boundary composed of multiple semi-planes. More...
class	ChBoxShape
	Class for a box shape that can be visualized in some way. More...
class	ChCamera
	Class for defining a videocamera point of view with basic settings. More...
class	ChCapsuleShape
	Class for referencing a capsule shape that can be visualized in some way. More...
class	ChClassFactory
	A class factory. More...
class	ChClassRegistration
	Macro to create a ChDetect_ArchiveINconstructor More...
class	ChClassRegistrationBase
	Base class for all registration data of classes whose objects can be created via a class factory. More...
class	ChColor
	Class for setting a color (used by ChVisualization) More...
class	ChColorAsset
	Base class for assets that carry basic informations about the surface color for visualization assets. More...
class	ChCommDistributed
	This class holds functions for processing the system's bodies to determine when a body needs to be sent to another rank for either an update or for creation of a ghost. More...
class	ChConeShape
	Class for referencing a cone shape that can be visualized in some way. More...
class	ChConstantDistribution
	Class for a distribution with a single 'value' that has probability 1.0 (that is, the distribution has a spike corresponding to 'value' and zero elsewhere). More...
class	ChConstraint
	Base class for representing constraints to be used with variational inequality solvers, used with Linear/CCP/LCP problems including inequalities, equalities, nonlinearities, etc. More...
class	ChConstraintBilateral
	Bilateral (joint) constraints. More...
class	ChConstraintNgeneric
	This class implements the functionality for a constraint between N objects of type ChVariables(), and defines three constraint matrices, whose column number automatically matches the number of elements in variables vectors. More...
class	ChConstraintRigidRigid
	Unilateral (contact) constraints. More...
class	ChConstraintThree
	This class is inherited by the base ChConstraint(), which does almost nothing. More...
class	ChConstraintThreeBBShaft
	A class for representing a constraint between two bodies (2x6dof in space) and a 1D dof (a shaft) More...
class	ChConstraintThreeGeneric
	This class is inherited by the base ChConstraintThree(), which is a base for triple constraints. More...
class	ChConstraintTuple_1vars
	This is a container for 'half' of a constraint, and contains a tuple of 1 or 2 or 3 differently-sized jacobian chunks. More...
class	ChConstraintTuple_2vars
	Case of tuple with reference to 2 ChVariable objects: More...
class	ChConstraintTuple_3vars
	Case of tuple with reference to 3 ChVariable objects: More...
class	ChConstraintTuple_4vars
	Case of tuple with reference to 4 ChVariable objects: More...
class	ChConstraintTwo
	This class implements the functionality for a constraint between a COUPLE of TWO objects of type ChVariables(), and defines two constraint matrices, whose column number automatically matches the number of elements in variables vectors. More...
class	ChConstraintTwoBodies
	This class implements the functionality for a constraint between a couple of two objects of type ChVariablesBody. More...
class	ChConstraintTwoGeneric
	This class implements the functionality for a constraint between a COUPLE of TWO objects of type ChVariables(), with generic number of scalar variables each (ex.ChVariablesGeneric() or ChVariablesBody() ) and defines two constraint matrices, whose column number automatically matches the number of elements in variables vectors. More...
class	ChConstraintTwoGenericBoxed
	This class is inherited from the base ChConstraintTwoGeneric, which can be used for most pairwise constraints, and adds the feature that the multiplier must be l_min < l < l_max that is, the multiplier is 'boxed'. More...
class	ChConstraintTwoTuples
	This constraint is built on top of two ChConstraintTuple objects, each with a tuple of 1 or 2 or 3 differently-sized jacobian chunks. More...
class	ChConstraintTwoTuplesContactN
	This class is inherited from the ChConstraintTwoTuples, It is used to represent the normal reaction between two objects, each represented by a tuple of ChVariables objects, ONLY when also two ChConstraintTwoTuplesFrictionT objects are used to represent friction. More...
class	ChConstraintTwoTuplesFrictionT
	Base class for friction constraints between two objects, each represented by a tuple of ChVariables objects. More...
class	ChConstraintTwoTuplesFrictionTall
	This is enough to use dynamic_casting<> to detect all template types from ChConstraintTwoTuplesFrictionT. More...
class	ChConstraintTwoTuplesRollingN
	This class is inherited from ChConstraintTwoTuples, It is used to represent the normal reaction between two objects, each represented by a tuple of ChVariables objects, ONLY when also two ChConstraintTwoTuplesFrictionT objects are used to represent friction. More...
class	ChConstraintTwoTuplesRollingNall
	This is enough to use dynamic_casting<> to detect all template types from ChConstraintTwoTuplesRollingN. More...
class	ChConstraintTwoTuplesRollingT
	Base class for friction constraints between two objects, each represented by a tuple of ChVariables objects. More...
class	ChConstraintTwoTuplesRollingTall
	This is enough to use dynamic_casting<> to detect all template types from ChConstraintTwoTuplesRollingT. More...
class	ChContactable
	Interface for objects that generate contacts One should inherit from ChContactable_1vars, ChContactable_2vars etc. More...
class	ChContactContainer
	Class representing a container of many contacts. More...
class	ChContactContainerNSC
	Class representing a container of many non-smooth contacts. More...
class	ChContactContainerParallel
	Class representing a container of many contacts, implemented as a linked list of contact tuples. More...
class	ChContactContainerSMC
	Class representing a container of many smooth (penalty) contacts. More...
class	ChContactNSC
	Class for non-smooth contact between two generic ChContactable objects. More...
class	ChContactNSCrolling
	Class for non-smooth contact between two generic ChContactable objects. More...
class	ChContactSMC
	Class for smooth (penalty-based) contact between two generic contactable objects. More...
class	ChContactTuple
	Base class for contact between two generic ChContactable objects. More...
class	ChContinuumDistribution
	Class that can be used to generate sample numbers according to a probability distribution. More...
class	ChContinuumSPH
	Class for SPH fluid material, with basic property of incompressible fluid. More...
class	ChControllerPID
	Class for a basic PID controller. More...
class	ChConveyor
	Class for conveyor belt. More...
class	ChCoordsys
	COORDSYS: More...
class	ChCubicSpline
	Implementation of 1-D piece-wise cubic spline curves. More...
class	ChCylinderShape
	Class for referencing a cylinder shape that can be visualized in some way. More...
class	ChDirectSolverLS
	Base class for sparse direct linear solvers. More...
class	ChDiscreteDistribution
	Class that can be used to generate sample numbers according to a discrete probability distribution. More...
class	ChDistributedDataManager
	A class for storing data for maintaining a consistent view of a distributed simulation consisting of multiple wrapped instances of ChSystemParallelSMC. More...
class	ChDistribution
	Base class for all random distributions. More...
class	ChDomainDistributed
	This class maps sub-domains of the global simulation domain to each MPI rank. More...
class	ChEllipsoidShape
	Class for referencing an ellipsoid shape that can be visualized in some way. More...
class	ChEmitterAsset
	Class that attaches a ChParticleEmitter to a physics item (most often that item is a ChBody). More...
class	ChEnumMapperBase
	Class for mapping enums to ChNameValue pairs that contain a 'readable' ascii string of the selected enum. More...
class	ChException
	Class for exceptions for throw() catch() mechanism. More...
class	ChExceptionArchive
	Macro to create a ChDetect_ArchiveINconstructor that can be used in templates, to select which specialized template to use. More...
class	ChFEAContainer
	Container of FEA nodes. More...
class	ChFile_ps
	Class for postScript(TM) output. More...
class	ChFile_ps_axis_setting
	Class for settings of an axis (x or y, or t) of a 2D plotting of a function on a EPS file. More...
class	ChFile_ps_color
	Class for RGB color for a PostScript item (line, circle, etc) More...
class	ChFile_ps_graph_setting
	Class for generic settings of a 2D plotting of a function on a EPS file. More...
class	ChFluidContainer
	Container of fluid particles. More...
class	ChFmMatrix34
	Special MBD 3x4 matrix [Fm(q)], as in [Fp(q)] * [Fm(q)]' = [A(q)]. More...
class	ChForce
	Forces are objects which must be attached to rigid bodies in order to apply torque or force to such body. More...
class	ChFpMatrix34
	Special MBD 3x4 matrix [Fp(q)], as in [Fp(q)] * [Fm(q)]' = [A(q)]. More...
class	ChFrame
	ChFrame: a class for coordinate systems in 3D space. More...
class	ChFrameMoving
	ChFrameMoving: a class for coordinate systems in 3D space. More...
class	ChFseqNode
	Node for the list of functions in a ChFunction_Sequence object. More...
class	ChFunction
	Interface base class for scalar functions of the type: y= f(x) More...
class	ChFunction_Const
	Constant function: y = C More...
class	ChFunction_ConstAcc
	Constant acceleration function: More...
class	ChFunction_Derive
	Derivative of a function: y = df/dx More...
class	ChFunction_Fillet3
	Cubic fillet function (cubic poly with C0 C1 boundary conditions). More...
class	ChFunction_Integrate
	Integral of a function: y = int{ f(x) dx More...
class	ChFunction_Lambda
class	ChFunction_Matlab
	Matlab function: y = matlab evaluation of function y=f(x) More...
class	ChFunction_Mirror
	Mirror function: y = __/\__ Mirrors a function about a vertical axis. More...
class	ChFunction_Mocap
	Motion capture (sample) function: y = (linear interpolated array of samples) More...
class	ChFunction_Noise
	Noise function: y = multi-octave noise with cubic interpolation. More...
class	ChFunction_Operation
	Operation between functions: More...
class	ChFunction_Oscilloscope
	Oscilloscope function. More...
class	ChFunction_Poly
	POLYNOMIAL FUNCTION: y = a + bx + cx^2 + dx^3 + ... More...
class	ChFunction_Poly345
	Ramp function, as a 3-4-5 polynomial: More...
class	ChFunction_Ramp
	Linear function (like a straight ramp): y = y0 + x * speed More...
class	ChFunction_Recorder
	Recorder function: More...
class	ChFunction_Repeat
	Repeat function: y = __/__/__/ More...
class	ChFunction_Sequence
	Sequence function: y = sequence_of_functions(f1(y), f2(y), f3(y)) All other function types can be inserted into this. More...
class	ChFunction_Setpoint
	Function that returns Y from an externally-provided value, as a ZOH (zero order hold) block. More...
class	ChFunction_SetpointCallback
	Interface for functions that uses a callback to return a Y value, as a ZOH (zero order hold) block. More...
class	ChFunction_Sigma
	Sigma function: y = polynomial smooth ramp More...
class	ChFunction_Sine
	Sine function y = sin (phase + w*x ) where w=2*PI*freq. More...
class	ChFunctionPosition
	Interface base class for scalar->vector functions of the type: More...
class	ChFunctionPosition_line
	A motion function p=f(s) where p(t) is defined with a ChLine geometry object, ex. More...
class	ChFunctionPosition_setpoint
	A motion function p=f(s) where p(t) is an externally-provided sample, as a ZOH (zero order hold) of FOH (first order). More...
class	ChFunctionPosition_XYZfunctions
	A motion function p=f(s) where p(t) is defined with three independent ChFunction objects, each for px, py, pz component. More...
class	ChFunctionRotation
	Interface base class for scalar->quaternion functions of the type: More...
class	ChFunctionRotation_ABCfunctions
	A rotation function q=f(s) where q(s) is defined with three ChFunction objects, each per an an angle in an intrinsic triplets of angles (ex. More...
class	ChFunctionRotation_axis
	A rotation function q=f(s) where q(s) is defined with axis V and angle alpha, assuming fixed axis of rotation V and a angle of rotation alpha about that axis, expressed with a ChFunction object alpha=alpha(s). More...
class	ChFunctionRotation_setpoint
	A rotation q=f(s) provided from a rotation sample, continuously updated by the user, behaving as a ZOH (zero order hold) of FOH (first order). More...
class	ChFunctionRotation_spline
	A rotation function q=f(s) that interpolates n rotations using a "quaternion spline" of generic order. More...
class	ChFunctionRotation_SQUAD
	A rotation function q=f(s) that interpolates n rotations using a SQUAD spherical quadrangle interpolation between quaternions. More...
class	ChFunctorArchiveIn
	Functor to call the ArchiveIN function for unrelated classes that implemented them. More...
class	ChFx
	Abstract interface class for math functions of the type A=f(B) where A and B are vectors of real values (to the limit, also single scalar values). More...
class	ChFxCfunction
	Class for A=f(B) math functions, where the function is defined by wrapping a C function of the 'old' type, i.e. More...
class	ChFxCfunctionS
	Class for A=f(B) math functions, where the function is defined by wrapping a C function of the 'old' type, i.e. More...
class	ChGenotype
	Class for individuals of the population; for the ChOptimizerGenetic optimization engine. More...
class	ChGlMatrix34
	Special MBD 3x4 matrix [Gl(q)], as in local angular speed conversion. More...
class	ChGlyphs
	Class for referencing a set of 'glyphs', that are simple symbols such as arrows or points to be drawn for showing vector directions etc. More...
class	ChGwMatrix34
	Special MBD 3x4 matrix [Gw(q)], as in absolute angular speed conversion. More...
class	ChImplicitIterativeTimestepper
	Base properties for implicit solvers. More...
class	ChImplicitTimestepper
	Base class for implicit solvers (double inheritance) More...
class	ChIndexedNodes
	Interface class for clusters of points that can be accessed with an index. More...
class	ChIndexedParticles
	Interface class for clusters of particles that can be accessed with an index. More...
class	ChInertiaUtils
	Class with some static functions that can be used to make computations with inertia tensors. More...
class	ChIntegrable
	Interface class for all objects that support time integration. More...
class	ChIntegrable1D
	Base class for 1D integrand T=f(x) to be used in ChQuadrature. More...
class	ChIntegrable2D
	As ChIntegrable1D, but for 2D integrand T=f(x,y) to be used in ChQuadrature. More...
class	ChIntegrable3D
	As ChIntegrable1D, but for 3D integrand T=f(x,y,z) to be used in ChQuadrature. More...
class	ChIntegrableIIorder
	Special subcase: II-order differential system. More...
class	ChIterativeSolver
	Base class for iterative solvers. More...
class	ChIterativeSolverLS
	Base class for Chrono solvers based on Eigen iterative linear solvers. More...
class	ChIterativeSolverParallel
	Base class for all iterative solvers. More...
class	ChIterativeSolverParallelNSC
	Wrapper class for all complementarity solvers. More...
class	ChIterativeSolverParallelSMC
	Iterative solver for SMC (penalty-based) problems. More...
class	ChIterativeSolverVI
	Base class for iterative solvers aimed at solving complementarity problems arising from QP optimization problems. More...
class	ChKblock
	Base class for representing items which introduce block-sparse matrices, that is blocks that connect some 'variables' and build a matrix K in a sparse variational inequality VI(Z*x-d,K): More...
class	ChKblockGeneric
	Class that represent nxn sparse blocks to put into K global matrix, that is blocks that connect N 'variables' and build a matrix K in a sparse variational inequality VI(Z*x-d,K): More...
class	ChLineShape
	Class for referencing a ChLine that can be visualized in some way. More...
class	ChLink
	Base class for joints between two ChBodyFrame objects. More...
class	ChLinkBase
	Base class for all types of constraints that act like mechanical joints ('links') in 3D space. More...
class	ChLinkBrake
	Link representing a brake between two rigid bodies, including the sticking effect. More...
class	ChLinkBushing
	ChLinkBushing class. More...
class	ChLinkClearance
	A class for the custom fast simulation of revolute joints with clearance. More...
class	ChLinkDistance
	Class for enforcing a fixed polar distance between two points on two ChBodyFrame objects. More...
class	ChLinkForce
	Class for forces in link joints of type ChLinkLock. More...
class	ChLinkGear
	Gear link between two rigid bodies. More...
class	ChLinkLimit
	Class for limits in ChLinkLock joints. More...
class	ChLinkLinActuator
	Class for linear actuators between two markers, as the actuator were joined with two spherical bearing at the origin of the two markers. More...
class	ChLinkLock
	Base class for joints implemented using the "lock formulation". More...
class	ChLinkLockAlign
	Align joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockCylindrical
	Cylindrical joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockFree
	Free joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockLock
	6-dof locked joint, with the link-lock formulation. More...
class	ChLinkLockOldham
	Oldham joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockParallel
	Parallel joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockPerpend
	Perpendicularity joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockPlanePlane
	Plane-plane joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockPointLine
	Point-line joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockPointPlane
	Point-plane joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockPrismatic
	Prismatic joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockRevolute
	Revolute joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockRevolutePrismatic
	RevolutePrismatic joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockSpherical
	Spherical joint, with the 'ChLinkLock' formulation. More...
class	ChLinkMarkers
	Class for links which connect two 'markers'. More...
class	ChLinkMask
	Mask structure for N scalar constraint equations between two bodies. More...
class	ChLinkMaskLF
	Specialized ChLinkMask class, for constraint equations of the ChLinkLock link. More...
class	ChLinkMate
	Base class for all 'simple' constraints between two frames attached to two bodies. More...
class	ChLinkMateCoaxial
	Mate constraint of coaxial type. More...
class	ChLinkMateFix
	Mate constraint that completely fix one frame's rotation and translation respect to the other frame. More...
class	ChLinkMateGeneric
	Generic mate constraint, where one can select which DOFs must be constrained between two frames attached to the two bodies. More...
class	ChLinkMateOrthogonal
	Mate constraint of orthogonal type. More...
class	ChLinkMateParallel
	Mate constraint of parallel type. More...
class	ChLinkMatePlane
	Mate constraint of plane-to-plane type. More...
class	ChLinkMateSpherical
	Mate constraint of spherical type. More...
class	ChLinkMateXdistance
	Mate constraining distance of origin of frame B respect to X axis of frame A. More...
class	ChLinkMotionImposed
	A joint that enforces position and rotation between two frames on two bodies, using six rheonomic constraints. More...
class	ChLinkMotor
	Base class for all "motor" constraints between two frames on two bodies. More...
class	ChLinkMotorLinear
	Base class for all linear "motor" constraints between two frames on two bodies. More...
class	ChLinkMotorLinearDriveline
	This is an "interface" from 3D to a powertrain/powertrain that is modeled via 1D elements such as ChShaft, ChShaftsMotor, ChShaftsGearbox, ChShaftsClutch, etc. More...
class	ChLinkMotorLinearForce
	A linear motor that applies a force between two frames on two bodies. More...
class	ChLinkMotorLinearPosition
	A linear motor that enforces the position x(t) between two frames on two bodies, using a rheonomic constraint. More...
class	ChLinkMotorLinearSpeed
	A linear motor that enforces the speed v(t) between two frames on two bodies, using a rheonomic constraint. More...
class	ChLinkMotorRotation
	Base class for all rotational "motor" constraints between two frames on two bodies. More...
class	ChLinkMotorRotationAngle
	A motor that enforces the rotation angle r(t) between two frames on two bodies, using a rheonomic constraint. More...
class	ChLinkMotorRotationDriveline
	This is an "interface" from 3D to a powertrain/powertrain that is modeled via 1D elements such as ChShaft, ChShaftsMotor, ChShaftsGearbox, ChShaftsClutch, etc. More...
class	ChLinkMotorRotationSpeed
	A motor that enforces the angular speed w(t) between two frames on two bodies, using a rheonomic constraint. More...
class	ChLinkMotorRotationTorque
	A motor that applies a torque between two frames on two bodies. More...
class	ChLinkPointSpline
	ChLinkPointSpline class. More...
class	ChLinkPulley
	Class to create pulleys on two rigid bodies, connected by a belt. More...
class	ChLinkRackpinion
	Rack-pinion link between two body frames. More...
class	ChLinkRevolute
	Class for modeling a revolute joint between two two ChBodyFrame objects. More...
class	ChLinkRevoluteSpherical
	Class for modeling a composite revolute-spherical joint between two two ChBodyFrame objects. More...
class	ChLinkRevoluteTranslational
	Class for modeling a composite revolute-translational joint between two ChBodyFrame objects. More...
class	ChLinkRotSpringCB
	Class for rotational spring-damper systems with the torque specified through a functor object. More...
class	ChLinkScrew
	Screw joint between two rigid bodies. More...
class	ChLinkSpring
	Class for spring-damper systems, acting along the polar distance of two markers. More...
class	ChLinkSpringCB
	Class for spring-damper systems with the force specified through a functor object. More...
class	ChLinkTrajectory
	ChLinkTrajectory class. More...
class	ChLinkTSDA
	Class for translational spring-damper-actuator (TSDA) with the force optionally specified through a functor object (default, linear TSDA). More...
class	ChLinkUniversal
	Class for modeling a universal joint between two two ChBodyFrame objects. More...
class	ChList
	Class for linked list. More...
class	ChLoad
	Class for a load acting on a single ChLoadable item, via ChLoader objects. More...
class	ChLoadable
	Interface for objects that can be subject to loads (forces) Forces can be distributed on UV surfaces, or lines, etc.,so look also the more detailed children classes. More...
class	ChLoadableU
	Interface for objects that can be subject to line loads, distributed along U coordinate of the object. More...
class	ChLoadableUV
	Interface for objects that can be subject to area loads, distributed along UV coordinates of the object. More...
class	ChLoadableUVW
	Interface for objects that can be subject to volume loads, distributed along UVW coordinates of the object. More...
class	ChLoadBase
	Base class for loads. More...
class	ChLoadBodyBody
	Base class for wrench loads (a force + a torque) acting between two bodies. More...
class	ChLoadBodyBodyBushingGeneric
	Load for a visco-elastic translational/rotational bushing acting between two bodies. More...
class	ChLoadBodyBodyBushingMate
	Load for a visco-elastic translational/rotational bushing acting between two bodies. More...
class	ChLoadBodyBodyBushingPlastic
	Load for a visco-elasto-plastic bushing acting between two bodies. More...
class	ChLoadBodyBodyBushingSpherical
	Load for a visco-elastic bushing acting between two bodies. More...
class	ChLoadBodyBodyTorque
	Load representing a torque applied between two bodies. More...
class	ChLoadBodyForce
	Load representing a concentrated force acting on a rigid body. More...
class	ChLoadBodyMesh
	Class for applying loads to a triangle mesh belonging to a ChBody, as a cluster of forces operating on the underlying rigid body. More...
class	ChLoadBodyTorque
	Load representing a torque applied to a rigid body. More...
class	ChLoadContainer
	A container of ChLoad objects. More...
class	ChLoadCustom
	Loads acting on a single ChLoadable item. More...
class	ChLoadCustomMultiple
	Loads acting on multiple ChLoadable items. More...
class	ChLoader
	Class for loads applied to a single ChLoadable object. More...
class	ChLoaderForceOnSurface
	A very simple surface loader: a constant force vector, applied to a point on a u,v surface. More...
class	ChLoaderGravity
	A very usual type of volume loader: the constant gravitational load on Y. More...
class	ChLoaderPressure
	A very usual type of surface loader: the constant pressure load, a 3D per-area force that is aligned to the surface normal. More...
class	ChLoaderU
	Class of loaders for ChLoadableU objects (which support line loads). More...
class	ChLoaderUatomic
	Class of loaders for ChLoadableU objects (which support line loads) of atomic type, that is, with a concentrated load in a point Pu. More...
class	ChLoaderUdistributed
	Class of loaders for ChLoadableU objects (which support line loads), for loads of distributed type, so these loads will undergo Gauss quadrature to integrate them in the surface. More...
class	ChLoaderUV
	Class of loaders for ChLoadableUV objects (which support surface loads). More...
class	ChLoaderUVatomic
	Class of loaders for ChLoadableUV objects (which support surface loads) of atomic type, that is, with a concentrated load in a point Pu,Pv. More...
class	ChLoaderUVdistributed
	Class of loaders for ChLoadableUV objects (which support surface loads), for loads of distributed type, so these loads will undergo Gauss quadrature to integrate them in the surface. More...
class	ChLoaderUVW
	Class of loaders for ChLoadableUVW objects (which support volume loads). More...
class	ChLoaderUVWatomic
	Class of loaders for ChLoadableUVW objects (which support volume loads) of atomic type, that is, with a concentrated load in a point Pu,Pv,Pz. More...
class	ChLoaderUVWdistributed
	Class of loaders for ChLoadableUVW objects (which support volume loads), for loads of distributed type, so these loads will undergo Gauss quadrature to integrate them in the volume. More...
class	ChLoaderXYZnode
	FORCE AT XYZ NODE Loader for a constant force applied at a XYZ node. More...
class	ChLoadJacobians
	Utility class for storing jacobian matrices. More...
class	ChLoadXYZnode
	Force at XYZ node (ready to use load) More...
class	ChLoadXYZnodeBody
	Base class for loads representing a concentrated force acting between a ChNodeXYZ and a ChBody Users should inherit from this and implement a custom ComputeForce(), this is enough to have the load working. More...
class	ChLoadXYZnodeBodyBushing
	Load representing a XYZ bushing between a ChNodeXYZ and a ChBody application point, with given with spring stiffness as a ChFunction of displacement, for each X,Y,Z direction along the auxiliary frame at the attachment point. More...
class	ChLoadXYZnodeBodySpring
	Load representing a spring between a ChNodeXYZ and a ChBody, where the anchoring to body can be set via SetApplicationFrameB(). More...
class	ChLoadXYZnodeForce
	Base class for loads representing a concentrated force acting on a ChNodeXYZ. More...
class	ChLoadXYZnodeForceAbsolute
	Load representing a concentrated force acting on a ChNodeXYZ, as a constant force, or it provides a function to modulate it with time. More...
class	ChLoadXYZnodeXYZnode
	Base class for loads representing a concentrated force acting between two ChNodeXYZ. More...
class	ChLoadXYZnodeXYZnodeBushing
	Load representing a XYZ bushing between two ChNodeXYZ, with given with spring stiffness as a ChFunction of displacement, for each X,Y,Z direction. More...
class	ChLoadXYZnodeXYZnodeSpring
	Load representing a spring between two ChNodeXYZ, with given damping and spring constants, directed as the distance between the two. More...
class	ChLog
	Base class for output of errors, messages, warnings, etc. More...
class	ChLogConsole
	Specialized class for logging errors in std::cout. More...
class	ChMarker
	Markers are auxiliary reference frames which belong to rigid bodies and move together with them. More...
class	ChMaterial
	Visualization material properties. More...
class	ChMaterialComposite
	Base class for composite material for a contact pair. More...
class	ChMaterialCompositeNSC
	Composite NSC material data for a contact pair. More...
class	ChMaterialCompositeSMC
	Composite SMC material data for a contact pair. More...
class	ChMaterialCompositionStrategy
	Base class for material composition strategy. More...
class	ChMaterialSurface
	Base class for specifying material properties for contact force generation. More...
class	ChMaterialSurfaceNSC
	Material data for a surface for use with non-smooth (complementarity) contact method. More...
class	ChMaterialSurfaceSMC
	Material data for a surface for use with smooth (penalty) contact method. More...
class	ChMatrix33
	Definition of a 3x3 fixed size matrix to represent 3D rotations and inertia tensors. More...
class	ChMatterSPH
	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. More...
class	ChMinMaxDistribution
	Class for a distribution with uniform probability between a lower 'min' value and upper 'max' value (that is, the distribution looks like a rectangle) More...
class	ChMumpsEngine
	Wrapper class for the MUMPS direct linear solver. More...
class	ChNameValue
	This is a base class for name-value pairs. More...
class	ChNode
	Node for linked list. More...
class	ChNodeBase
	Class for a node, that has some degrees of freedom and that contain a proxy to the solver. More...
class	ChNodeSPH
	Class for a single node in the SPH cluster. More...
class	ChNodeXYZ
	Class for a single 'point' node, that has 3 DOF degrees of freedom and a mass. More...
class	ChNonlinearSolver
	Solver for systems of nonlinear equations. More...
class	ChNormalDistribution
	Class that generates the Gauss normal distribution (the 'bell' distribution) using the Box�Muller transform. More...
class	ChObj
	Base class for items which can be named, deleted, copied. etc. as in the editor of a 3d modeler. More...
class	ChObjShapeFile
	Class for referencing a Wavefront/Alias .obj file containing a shape that can be visualized in some way. More...
class	CHOMPfunctions
	Dummy functions that do nothing in case that no parallel multithreading via OpenMP is available. More...
class	CHOMPmutex
	Dummy mmutex that does nothing in case that no parallel multithreading via OpenMP is available. More...
struct	CHOMPscopedLock
	Exception-safe wrapper to a mutex: it automatically locks the mutex as soon as the wrapper is created, and releases the mutex when the wrapper is deleted (you simply put the wrapper in a code section delimited by {} parentheses, so it is deleted by the compiler when exiting the scope of the section or in case of premature exit because of an exception throw) More...
class	ChOptimizer
	Base class for multi-variable optimization. More...
class	ChOptimizerGenetic
	Class for global optimization with the genetic method (evolutive simulation). More...
class	ChOptimizerGradient
	Class for local optimization with the cheap method of gradient and bisection. More...
class	ChOptimizerHybrid
	Class for genetic optimization followed by a refinement with the method of gradient, one after the other. More...
class	ChOptimizerLocal
	Class for local optimization with the pseudo-Newton method. More...
class	ChParallelDataManager
	Global data manager for Chrono::Parallel. More...
class	ChParticleBase
	Base class for a single particle to be used in ChIndexedParticles containers. More...
class	ChParticleContainer
	Container of rigid particles (3 DOF). More...
class	ChParticlesClones
	Class for clusters of 'clone' particles, that is many rigid objects with the same shape and mass. More...
class	ChPathShape
	Class for referencing a ChLinePath that can be visualized in some way. More...
class	ChPhysicsItem
	Base class for items that can contain objects of ChVariables or ChConstraints, such as rigid bodies, mechanical joints, etc. More...
class	ChPointPointDrawing
	Base class for visualization of some deformable line shape between two moving points related to the parent ChPhysicsItem. More...
class	ChPointPointSegment
	Class to visualize a line segment between two moving points related to the parent ChPhysicsItem. More...
class	ChPointPointSpring
	Class to visualize a coil spring between two moving points related to the parent ChPhysicsItem. More...
class	ChProjectConstraints
	Functor class for performing projection on the hyper-cone. More...
class	ChProjectNone
	Functor class for performing a single cone projection. More...
class	ChProximityContainer
	Class representing the interface for containers of proximity pairs, that is pairs of collision models that have been obtained from the broadphase collision. More...
class	ChProximityContainerMeshless
	Class for container of many proximity pairs for a meshless deformable continuum (necessary for inter-particle material forces), as CPU typical linked list of ChProximityMeshless objects. More...
class	ChProximityContainerSPH
	Class for container of many proximity pairs for SPH (Smooth Particle Hydrodynamics and similar meshless force computations), as CPU typical linked list of ChProximitySPH objects. More...
class	ChProximityMeshless
	Class for a proximity pair information in a meshless deformable continumm, made with a cluster of particles - that is, an 'edge' topological connectivity in in a meshless FEA approach, similar to the Smoothed Particle Hydrodynamics. More...
class	ChProximitySPH
	Class for a proximity pair information in a SPH cluster of particles - that is, an 'edge' topological connectivity in in a meshless FEA approach, like the Smoothed Particle Hydrodynamics. More...
class	ChPythonEngine
	Class for a Python parser. More...
class	ChQuadrature
	Class to perform Gauss-Legendre quadrature, in 1D, 2D, 3D. More...
class	ChQuadratureTables
	Class to store polynomial roots and weights for the Gauss-Legendre quadrature. More...
class	ChQuadratureTablesTetrahedron
	Class to store polynomial roots and weights for quadrature over a tetrahedron. More...
class	ChQuadratureTablesTriangle
	Class to store polynomial roots and weights for quadrature over a triangle. More...
class	ChQuaternion
	Class defining quaternion objects, that is four-dimensional numbers, also known as Euler parameters. More...
class	ChRealtimeStepTimer
class	ChRoundedBoxShape
	Class for referencing a rounded box shape that can be visualized in some way. More...
class	ChRoundedConeShape
	Class for referencing a rounded cone shape that can be visualized in some way. More...
class	ChRoundedCylinderShape
	Class for referencing a rounded cylinder shape that can be visualized in some way. More...
class	ChShaft
	Class for one-degree-of-freedom mechanical parts with associated inertia (mass, or J moment of inertial for rotating parts). More...
class	ChShaftsBody
	Class for creating a constraint between a 3D ChBody object and a 1D ChShaft object. More...
class	ChShaftsBodyTranslation
	Class for creating a constraint between a 3D ChBody object and a 1D ChShaft object that represents a 1D translational DOF (differently from the ChShaftsBody constraint that connects to a rotational DOF) A translation axis must be specified (to tell along which direction the 1D shaft inertia rotation affects the body). More...
class	ChShaftsClutch
	Class for defining a clutch or a brake (1D model) between two one-degree-of-freedom parts; i.e., shafts that can be used to build 1D models of powertrains. More...
class	ChShaftsCouple
	Base class for defining constraints between a couple of two one-degree-of-freedom parts; i.e., shafts that can be used to build 1D models of powertrains. More...
class	ChShaftsElasticGear
	Class for defining a torsional spring-damper between two 1D parts; i.e., shafts that can be used to build 1D models of powertrains. More...
class	ChShaftsGear
	Class for defining a 'transmission ratio' (a 1D gear) between two one-degree-of-freedom parts; i.e., shafts that can be used to build 1D models of powertrains. More...
class	ChShaftsGearbox
	Class for defining a gearbox. More...
class	ChShaftsGearboxAngled
	Class for defining a gearbox with 1D input and 1D output, but with different directions in 3D space. More...
class	ChShaftsLoad
	Base class for defining loads between a couple of two one-degree-of-freedom parts; i.e., shafts that can be used to build 1D models of powertrains. More...
class	ChShaftsMotor
	Class for a multipurpose motor (a 1D model of 'imposed torque' or 'imposed velocity' or 'imposed rotation') between two one-degree-of-freedom parts, that is, shafts that can be used to build 1D models of power trains. More...
class	ChShaftsMotorAngle
	A motor that enforces the rotation angle r(t) between two ChShaft shafts, using a rheonomic constraint. More...
class	ChShaftsMotorBase
	Base class for all "motors" between two 1D elements of ChShaft class. More...
class	ChShaftsMotorSpeed
	A motor that enforces the angular speed w(t) between two ChShaft shafts, using a rheonomic constraint. More...
class	ChShaftsMotorTorque
	A motor that applies a torque between two ChShaft shafts, a bit like the simplier ChShaftsTorque, with some differences, ex. More...
class	ChShaftsPlanetary
	Class for defining a planetary gear between three one-degree-of-freedom parts; i.e., shafts that can be used to build 1D models of powertrains; this is more efficient than simulating power trains modeled full 3D ChBody objects). More...
class	ChShaftsThermalEngine
	Class for defining a thermal engine between two one-degree-of-freedom parts; i.e., shafts that can be used to build 1D models of power trains. More...
class	ChShaftsTorque
	Class for defining a user-defined torque between two one-degree-of-freedom parts; i.e., shafts that can be used to build 1D models of powertrains. More...
class	ChShaftsTorqueBase
	Base class for all stuff defining a torque between two one-degree-of-freedom parts, for example torsional dampers, torsional springs, electric engines, etc. More...
class	ChShaftsTorqueConverter
	Class for defining a torque converter between two one-degree-of-freedom parts; i.e., shafts that can be used to build 1D models of powertrains. More...
class	ChShaftsTorsionSpring
	Class for defining a torsional spring-damper between two 1D parts; i.e., shafts that can be used to build 1D models of powertrains. More...
class	ChShaftsTorsionSpringDamper
	Class for defining a torsional spring-damper between two 1D parts; i.e., shafts that can be used to build 1D models of powertrains. More...
class	ChSharedMassBody
	Used by ChVariablesBodySharedMass objects to reference a single mass property. More...
class	ChShurProduct
	Functor class for calculating the Shur product of the matrix of unilateral constraints. More...
class	ChShurProductBilateral
	Functor class for performing the Shur product of the matrix of bilateral constraints. More...
class	ChShurProductFEM
	Functor class for performing the Shur product. More...
class	ChSolver
	Base class for all Chrono solvers (for linear problems or complementarity problems). More...
class	ChSolverAPGD
	An iterative solver based on Nesterov's Projected Gradient Descent. More...
class	ChSolverBB
	An iterative solver based on modified Krylov iteration of spectral projected gradients with Barzilai-Borwein. More...
class	ChSolverBiCGSTAB
	BiCGSTAB iterative solver. More...
class	ChSolverGMRES
	GMRES iterative solver. More...
class	ChSolverLS
	Base class for solvers aimed at solving linear systems. More...
class	ChSolverMINRES
	MINRES iterative solver. More...
class	ChSolverMKL
	Interface to the Intel MKL Pardiso parallel sparse direct solver. More...
class	ChSolverMumps
	Interface to the MUMPS parallel sparse direct solver. More...
class	ChSolverParallel
	Base class for all Chrono::Parallel solvers. More...
class	ChSolverParallelAPGD
	Accelerated Projected Gradient Descent (APGD) solver. More...
class	ChSolverParallelAPGDREF
	Accelerated Projected Gradient Descent (APGD) solver. Reference implementation. More...
class	ChSolverParallelBB
	Barzilai-Borwein solver. More...
class	ChSolverParallelCG
	Conjugate gradient solver. More...
class	ChSolverParallelGS
	Gauss Seidel solver. More...
class	ChSolverParallelJacobi
	Jacobi solver. More...
class	ChSolverParallelMinRes
	MINRES solver. More...
class	ChSolverParallelSPGQP
	Spectral Projected Gradient solver. More...
class	ChSolverPJacobi
	An iterative solver for VI based on projective fixed point method (projected Jacobi). More...
class	ChSolverPMINRES
	An iterative solver based on modified Krylov iteration of MINRES type with gradient projections (similar to nonlinear CG with Polyak-Ribiere). More...
class	ChSolverPSOR
	An iterative solver based on projective fixed point method, with overrelaxation and immediate variable update as in SOR methods. More...
class	ChSolverPSSOR
	An iterative solver based on symmetric projective fixed point method, with overrelaxation and immediate variable update as in SSOR methods. More...
class	ChSolverSparseLU
	Sparse LU direct solver. More...
class	ChSolverSparseQR
	Sparse LU direct solver. More...
class	ChSolverVI
	Base class for solvers aimed at solving complementarity problems arising from QP optimization problems. More...
class	ChSparsityPatternLearner
	Utility class for extracting sparsity patter from a sparse matrix. More...
class	ChSphereShape
	Class for referencing a sphere shape that can be visualized in some way. More...
class	ChStarMatrix33
	Special MBD 3x3 "star" matrix, , representing vector cross products. More...
class	ChStarMatrix44
	Special MBD 4x4 "star" matrix, representing quaternion cross product. More...
class	ChState
	Class for state of time-integrable objects. More...
class	ChStateDelta
	Class for incremental form of state of time-integrable objects. More...
class	ChStaticAnalysis
	Base class for static analysis. More...
class	ChStaticLinearAnalysis
	Linear static analysis. More...
class	ChStaticNonLinearAnalysis
	Nonlinear static analysis. More...
class	ChStream
	This is a base class for input/output (streaming) More...
class	ChStreamFile
	This is a base class for typical output on system's file, on a disk, using the typical C++ 'fstream' handler. More...
class	ChStreamIn
	This is a base class for all INPUT streams. More...
class	ChStreamInAscii
	This is a base class for all ASCII INPUT streams, in the sense that number are formatted into readable strings, etc. More...
class	ChStreamInAsciiFile
	This is a specialized class for ASCII input on system's file,. More...
class	ChStreamInAsciiVector
	This is a specialized class for ASCII input from wrapped std::vector<char>,. More...
class	ChStreamInBinary
	This is a base class for all BINARY INPUT streams, in a way such that the stream is platform independent (see the 'little endian' stuff in 'floating point to persistent data' topics..) Defines some << operators from basic types, converting all them into calls to the Output() function. More...
class	ChStreamInBinaryFile
	This is a specialized class for BINARY input on system's file,. More...
class	ChStreamInBinaryStream
	This is a specialized class for BINARY input from wrapped std::istream,. More...
class	ChStreamInBinaryVector
	This is a specialized class for BINARY input from wrapped std::vector<char>,. More...
class	ChStreamIstreamWrapper
	This is a wrapper for already-opened std::istream input streams. More...
class	ChStreamOstreamWrapper
	This is a wrapper for already-opened std::ostream output streams (like std::cout or similar) More...
class	ChStreamOut
	This is a base class for all OUTPUT streams. More...
class	ChStreamOutAscii
	This is a base class for all ASCII OUTPUT streams, in the sense that number are formatted into readable strings, etc. More...
class	ChStreamOutAsciiFile
	This is a specialized class for ASCII output on system's file,. More...
class	ChStreamOutAsciiVector
	This is a specialized class for ASCII output to wrapped std::vector<char>,. More...
class	ChStreamOutBinary
	This is a base class for all BINARY OUTPUT streams, in a way such that the stream is platform independent (see the 'little endian' stuff in 'floating point to persistent data' topics..) Defines some << operators from basic types, converting all them into calls to the Output() function. More...
class	ChStreamOutBinaryFile
	This is a specialized class for BINARY output on system's file,. More...
class	ChStreamOutBinaryStream
	This is a specialized class for BINARY output to wrapped std::ostream,. More...
class	ChStreamOutBinaryVector
	This is a specialized class for BINARY output to wrapped std::vector<char>,. More...
class	ChStreamVectorWrapper
	This is a wrapper for a std::vector<char> (buffer of chars) More...
class	ChSurfaceShape
	Class for referencing a ChSurface u,v, parametric surface that can be visualized in some way. More...
class	ChSystem
	Physical system. More...
class	ChSystemDescriptor
	Base class for collecting objects inherited from ChConstraint, ChVariables and optionally ChKblock. More...
class	ChSystemDescriptorParallel
	System descriptor for Chrono::Parallel. More...
class	ChSystemDistributed
	This is the main user interface for Chrono::Distributed Add bodies and set all settings through the system. More...
class	ChSystemNSC
	Class for a physical system in which contact is modeled using a non-smooth (complementarity-based) method. More...
class	ChSystemParallel
	Base class for parallel systems. More...
class	ChSystemParallelNSC
	Parallel systems using non-smooth contact (complementarity-based) method. More...
class	ChSystemParallelSMC
	Parallel systems using smooth contact (penalty-based) method. More...
class	ChSystemSMC
	Class for a physical system in which contact is modeled using a smooth (penalty-based) method. More...
class	ChTexture
	Base class for assets that define basic textures. More...
class	ChTimer
	Class for high-resolution timing. More...
class	ChTimestepper
	Base class for timesteppers, i.e., time integrators that can advance a system state. More...
class	ChTimestepperEulerExpl
	Euler explicit timestepper. More...
class	ChTimestepperEulerExplIIorder
	Euler explicit timestepper customized for II order. More...
class	ChTimestepperEulerImplicit
	Performs a step of Euler implicit for II order systems. More...
class	ChTimestepperEulerImplicitLinearized
	Performs a step of Euler implicit for II order systems using the Anitescu/Stewart/Trinkle single-iteration method, that is a bit like an implicit Euler where one performs only the first Newton corrector iteration. More...
class	ChTimestepperEulerImplicitProjected
	Performs a step of Euler implicit for II order systems using a semi implicit Euler without constraint stabilization, followed by a projection. More...
class	ChTimestepperEulerSemiImplicit
	Euler semi-implicit timestepper. More...
class	ChTimestepperHeun
	Performs a step of a Heun explicit integrator. It is like a 2nd Runge Kutta. More...
class	ChTimestepperHHT
	Implementation of the HHT implicit integrator for II order systems. More...
class	ChTimestepperIIorder
	Base class for 2nd order timesteppers, i.e., a time integrator for a ChIntegrableIIorder. More...
class	ChTimestepperIorder
	Base class for 1st order timesteppers, that is a time integrator for a ChIntegrable. More...
class	ChTimestepperLeapfrog
	Performs a step of a Leapfrog explicit integrator. More...
class	ChTimestepperNewmark
	Performs a step of Newmark constrained implicit for II order DAE systems. More...
class	ChTimestepperRungeKuttaExpl
	Performs a step of a 4th order explicit Runge-Kutta integration scheme. More...
class	ChTimestepperTrapezoidal
	Performs a step of trapezoidal implicit for II order systems. More...
class	ChTimestepperTrapezoidalLinearized
	Performs a step of trapezoidal implicit linearized for II order systems. More...
class	ChTimestepperTrapezoidalLinearized2
	Performs a step of trapezoidal implicit linearized for II order systems. More...
class	ChTransform
	ChTransform: a class for fast coordinate transformations in 3D space. More...
class	ChTriangleMeshShape
	Class for referencing a triangle mesh shape that can be visualized in some way. More...
class	ChValue
	Class that handle C++ values of generic type using type erasure and functors. More...
class	ChVariables
	Base class for representing objects that introduce 'variables' (also referred as 'v') and their associated mass submatrices for a sparse representation of the problem. More...
class	ChVariablesBody
	Specialized class for representing a 6-DOF item for a system, that is a 3D rigid body, with mass matrix and associate variables (a 6 element vector, ex.speed) This is an abstract class, specialized for example in ChVariablesBodyOwnMass and ChVariablesBodySharedMass. More...
class	ChVariablesBodyOwnMass
	Specialized class for representing a 6-DOF item for a system, that is a 3D rigid body, with mass matrix and associate variables (a 6 element vector, ex.speed) Differently from the 'naive' implementation ChVariablesGeneric, here a full 6x6 mass matrix is not built, since only the 3x3 inertia matrix and the mass value are enough. More...
class	ChVariablesBodySharedMass
	Specialized class for representing a 6-DOF item for a system, that is a 3D rigid body, with mass matrix and associate variables (a 6 element vector, ex.speed) Differently from the 'naive' implementation ChVariablesGeneric, here a full 6x6 mass matrix is not built, since only the 3x3 inertia matrix and the mass value are enough. More...
class	ChVariablesGeneric
	Specialized class for representing a N-DOF item for a system, that is an item with mass matrix and associate variables. More...
class	ChVariablesGenericDiagonalMass
	Specialized class for representing a N-DOF item for a system, that is an item with a diagonal mass matrix and associated variables. More...
class	ChVariablesNode
	Specialized class for representing a 3-DOF item for a system, that is a 3D point node, with mass matrix and associate variables (a 3 element vector, ex.speed) More...
class	ChVariablesShaft
	Specialized class for representing a 1-DOF item for a system, that is a shaft, with inertia and associated variable (rotational speed) More...
class	ChVariableTupleCarrier_1vars
	This is a set of 'helper' classes that make easier to manage the templated structure of the tuple constraints. More...
class	ChVector
	Definition of general purpose 3d vector variables, such as points in 3D. More...
class	ChVector2
	Definition of a general purpose 2d vector. More...
class	ChVisualization
	Base class for assets that define something about visualization (rendering, post processing, etc.) It contains basic information about position, color, and visibility. More...
class	ChWeibullDistribution
	Class that generates the Weibull distribution. More...
class	ChZhangDistribution
	Class that generates the Zhang distribution, a modified exponential distribution. More...
class	collision_measures
	Collision_measures. More...
class	collision_settings
	Chrono::Parallel collision_settings. More...
struct	host_container
	Structure of arrays containing simulation data. More...
struct	LocalShapeNode
	Linked-list node for tracking free shapes. More...
class	measures_container
	Aggregate of collision and solver measures. More...
struct	MPM_Settings
	Settings for the Material Point Method. More...
class	quaternion
	Chrono::parallel quaternion class. More...
class	real2
	Chrono::Parallel pair (2-dimensional vector). More...
class	real3
	Chrono::Parallel triplet (3-dimensional vector). More...
class	real4
	Chrono::Parallel qudruple (4-dimensional array). More...
class	settings_container
	Aggregate of all settings for Chrono::Parallel. More...
struct	Shape
	Structure of data for sending a collision shape to a rank. More...
struct	shape_container
	Structure of arrays containing contact shape information. More...
class	solver_measures
	Solver measures. More...
class	solver_settings
	Chrono::Parallel solver_settings. More...

Typedefs
typedef ChCoordsys< double >	Coordsys
	Shortcut for faster use of typical double-precision coordsys. More...
typedef ChCoordsys< float >	CoordsysF
	Shortcut for faster use of typical single-precision coordsys.
template<typename T = double>
using	ChMatrixDynamic = Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >
	Dense matrix with dynamic size (i.e., with size a run-time variable, unknown at compile time). More...
template<typename T , int M, int N>
using	ChMatrixNM = Eigen::Matrix< T, M, N, Eigen::RowMajor >
	Dense matrix with fixed size (known at compile time). More...
template<typename T = double>
using	ChVectorDynamic = Eigen::Matrix< T, Eigen::Dynamic, 1, Eigen::ColMajor >
	Column vector with dynamic size (i.e., with size a run-time variable, unknown at compile time). More...
template<typename T = double>
using	ChRowVectorDynamic = Eigen::Matrix< T, 1, Eigen::Dynamic, Eigen::RowMajor >
	Row vector with dynamic size (i.e., with size a run-time variable, unknown at compile time). More...
template<typename T , int N>
using	ChVectorN = Eigen::Matrix< T, N, 1 >
	Column vector with fixed size (known at compile time). More...
template<typename T , int N>
using	ChRowVectorN = Eigen::Matrix< T, 1, N, Eigen::RowMajor >
	Row vector with fixed size (known at compile time). More...
using	ChMatrixRef = Eigen::Ref< Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > >
	Reference to a dense matrix expression, with double coefficients. More...
using	ChMatrixConstRef = const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > > &
	Constant reference to a dense matrix expression, with double coefficients. More...
using	ChVectorRef = Eigen::Ref< Eigen::Matrix< double, Eigen::Dynamic, 1, Eigen::ColMajor > >
	Reference to a column vector expression, with double coefficients. More...
using	ChVectorConstRef = const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1, Eigen::ColMajor > > &
	Constant reference to a column vector expression, with double coefficients. More...
using	ChRowVectorRef = Eigen::Ref< Eigen::Matrix< double, 1, Eigen::Dynamic, Eigen::RowMajor > >
	Reference to a row vector expression, with double coefficients. More...
using	ChRowVectorConstRef = const Eigen::Ref< const Eigen::Matrix< double, 1, Eigen::Dynamic, Eigen::RowMajor > > &
	Constant reference to a row vector expression, with double coefficients. More...
template<typename T = double>
using	ChArray = Eigen::Array< T, Eigen::Dynamic, 1, Eigen::ColMajor >
	General-purpose column array with dynamic size. More...
using	ChSparseMatrix = Eigen::SparseMatrix< double, Eigen::RowMajor, int >
	Sparse matrix representation. More...
template<typename T = double>
using	ChMatrix34 = Eigen::Matrix< T, 3, 4, Eigen::RowMajor >
	3x4 dense matrix (fixed-size, row-major ordering)
template<typename T = double>
using	ChMatrix43 = Eigen::Matrix< T, 4, 3, Eigen::ColMajor >
	4x3 dense matrix (fixed-size, row-major ordering)
template<typename T = double>
using	ChMatrix44 = Eigen::Matrix< T, 4, 4, Eigen::RowMajor >
	4x4 dense matrix (fixed-size, row-major ordering)
typedef ChQuaternion< double >	Quaternion
	Shortcut for faster use of typical double-precision quaternion. More...
typedef ChQuaternion< float >	QuaternionF
	Shortcut for faster use of typical single-precision quaternion. More...
typedef ChVector< double >	Vector
	Shortcut for faster use of typical double-precision vectors. More...
typedef ChVector< float >	VectorF
	Shortcut for faster use of typical single-precision vectors. More...
typedef void(*	ChThreadFunc) (void *userPtr, void *lsMemory)
typedef void *(*	ChMemorySetupFunc) ()
typedef unsigned int	uint32_t
typedef ChThreadsPOSIX	ChThreadsPlatformImplementation
typedef struct chrono::BodyExchange	BodyExchange
	Structure of data for sending a new body to a rank.
typedef struct chrono::BodyUpdate	BodyUpdate
	Structure of data for sending an update of an existing body to a rank.
typedef struct chrono::Shape	Shape
	Structure of data for sending a collision shape to a rank.
typedef double	real

Enumerations
enum	AngleSet {   ANGLE_AXIS, AngleSet::EULERO, AngleSet::CARDANO, AngleSet::HPB,   AngleSet::RXYZ, RODRIGUEZ, QUATERNION }
	Definitions of various angle sets for conversions. More...
enum	eChConstraintMode { CONSTRAINT_FREE = 0, CONSTRAINT_LOCK = 1, CONSTRAINT_UNILATERAL = 2, CONSTRAINT_FRIC = 3 }
	Modes for constraint. More...
enum	eChUpdateFlags : unsigned int { eChUpdateFlags::ALL = 0x0, eChUpdateFlags::NEW_STEP = 0x1, eChUpdateFlags::NO_ASSETS = 0x2, eChUpdateFlags::NO_COLLISION_SHAPES = 0x4 }
	Flags to be passed to objects being updated during time stepping. More...
enum	SolverType {   SolverType::STEEPEST_DESCENT, SolverType::GRADIENT_DESCENT, SolverType::CONJUGATE_GRADIENT, SolverType::CONJUGATE_GRADIENT_SQUARED,   SolverType::BICONJUGATE_GRADIENT, SolverType::BICONJUGATE_GRADIENT_STAB, SolverType::MINIMUM_RESIDUAL, SolverType::QUASI_MINIMUM_RESIDUAL,   SolverType::APGD, SolverType::APGDREF, SolverType::JACOBI, SolverType::GAUSS_SEIDEL,   SolverType::PDIP, SolverType::BB, SolverType::SPGQP }
	Iterative solver type. More...
enum	SolverMode { SolverMode::NORMAL, SolverMode::SLIDING, SolverMode::SPINNING, SolverMode::BILATERAL }
	Enumeration for solver mode. More...
enum	CollisionSystemType { CollisionSystemType::COLLSYS_PARALLEL, CollisionSystemType::COLLSYS_BULLET_PARALLEL }
	Enumeration for the collision system type. More...
enum	NarrowPhaseType { NarrowPhaseType::NARROWPHASE_MPR, NarrowPhaseType::NARROWPHASE_R, NarrowPhaseType::NARROWPHASE_HYBRID_MPR }
	Enumeration of narrow-phase collision methods. More...
enum	SystemType { SystemType::SYSTEM_NSC, SystemType::SYSTEM_SMC }
	Enumeration for system type. More...
enum	BilateralType {   BODY_BODY, SHAFT_SHAFT, SHAFT_SHAFT_SHAFT, SHAFT_BODY,   SHAFT_SHAFT_BODY, UNKNOWN }
	Enumeration for bilateral constraint types. More...
enum	LoggingLevel {   LoggingLevel::LOG_NONE, LoggingLevel::LOG_INFO, LoggingLevel::LOG_TRACE, LoggingLevel::LOG_WARNING,   LoggingLevel::LOG_ERROR }
	Supported Logging Levels. More...

Functions
void *	aligned_malloc (size_t size, size_t alignment)
void	aligned_free (void *ptr)
template<typename E >
std::enable_if< enable_bitmask_operators< E >::enable, E >::type	operator| (E lhs, E rhs)
template<typename E >
std::enable_if< enable_bitmask_operators< E >::enable, E >::type	operator& (E lhs, E rhs)
template<typename E >
std::enable_if< enable_bitmask_operators< E >::enable, E >::type	operator^ (E lhs, E rhs)
template<typename E >
std::enable_if< enable_bitmask_operators< E >::enable, E >::type	operator~ (E lhs)
template<typename E >
std::enable_if< enable_bitmask_operators< E >::enable, E & >::type	operator|= (E &lhs, E rhs)
template<typename E >
std::enable_if< enable_bitmask_operators< E >::enable, E & >::type	operator&= (E &lhs, E rhs)
template<typename E >
std::enable_if< enable_bitmask_operators< E >::enable, E & >::type	operator^= (E &lhs, E rhs)
const ChApi ChCoordsys< double >	CSYSNULL (VNULL, QNULL)
const ChApi ChCoordsys< double >	CSYSNORM (VNULL, QUNIT)
Coordsys	Force2Dcsys (const Coordsys &cs)
	Force 3d coordsys to lie on a XY plane (note: no normaliz. on quat)
template<typename Real >
std::ostream &	operator<< (std::ostream &out, const ChCoordsys< Real > &cs)
	Insertion of coordsys to output stream.
template<class Real >
ChVector< Real >	operator* (const ChCoordsys< Real > &Fa, const ChVector< Real > &Fb)
	The '*' operator that transforms 'mixed' types: vector_C = frame_A * vector_B; where frame_A is a ChCoordsys vector_B is a ChVector Returns a ChVector. More...
template<class Real >
ChCoordsys< Real >	operator* (const ChVector< Real > &Fa, const ChCoordsys< Real > &Fb)
	The '*' operator that transforms 'mixed' types: frame_C = vector_A * frame_B; where vector_A is a ChVector frame_B is a ChCoordsys Returns a ChCoordsys. More...
template<class Real >
ChVector< Real >	operator>> (const ChVector< Real > &Fa, const ChCoordsys< Real > &Fb)
	The '>>' operator that transforms 'mixed' types: vector_C = vector_A >> frame_B; where vector_A is a ChVector frame_B is a ChCoordsys Returns a ChVector. More...
template<class Real >
ChCoordsys< Real >	operator>> (const ChCoordsys< Real > &Fa, const ChVector< Real > &Fb)
	The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> vector_B; where frame_A is a ChCoordsys vector_B is a ChVector Returns a ChCoordsys. More...
template<class Real >
ChQuaternion< Real >	operator* (const ChCoordsys< Real > &Fa, const ChQuaternion< Real > &Fb)
	The '*' operator that transforms 'mixed' types: quat_C = frame_A * quat_B; where frame_A is a ChCoordsys quat_B is a ChQuaternion Returns a ChQuaternion. More...
template<class Real >
ChCoordsys< Real >	operator* (const ChQuaternion< Real > &Fa, const ChCoordsys< Real > &Fb)
	The '*' operator that transforms 'mixed' types: frame_C = quat_A * frame_B; where quat_A is a ChQuaternion frame_B is a ChCoordsys Returns a ChCoordsys. More...
template<class Real >
ChQuaternion< Real >	operator>> (const ChQuaternion< Real > &Fa, const ChCoordsys< Real > &Fb)
	The '>>' operator that transforms 'mixed' types: quat_C = quat_A >> frame_B; where quat_A is a ChQuaternion frame_B is a ChCoordsys Returns a ChQuaternion. More...
template<class Real >
ChCoordsys< Real >	operator>> (const ChCoordsys< Real > &Fa, const ChQuaternion< Real > &Fb)
	The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> quat_B; where frame_A is a ChCoordsys frame_B is a ChQuaternion Returns a ChCoordsys. More...
ChVector2	pv_set (double x, double y)
ChVector2	pv_set (ChVector<> mv)
template<class Real >
ChCoordsys< Real >	operator* (const ChFrame< Real > &Fa, const ChCoordsys< Real > &Fb)
	The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChFrame frame_B is a ChCoordsys Returns a ChCoordsys. More...
template<class Real >
ChFrame< Real >	operator* (const ChCoordsys< Real > &Fa, const ChFrame< Real > &Fb)
	The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChCoordsys frame_B is a ChFrame Returns a ChFrame. More...
template<class Real >
ChCoordsys< Real >	operator>> (const ChCoordsys< Real > &Fa, const ChFrame< Real > &Fb)
	The '>>' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A >> frame_B; where frame_A is a ChCoordsys frame_B is a ChFrame Returns a ChCoordsys. More...
template<class Real >
ChFrame< Real >	operator>> (const ChFrame< Real > &Fa, const ChCoordsys< Real > &Fb)
	The '>>' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A >> frame_B; where frame_A is a ChFrame frame_B is a ChCoordsys Returns a ChFrame. More...
template<class Real >
ChVector< Real >	operator* (const ChFrame< Real > &Fa, const ChVector< Real > &Fb)
	The '*' operator that transforms 'mixed' types: vector_C = frame_A * vector_B; where frame_A is a ChFrame vector_B is a ChVector Returns a ChVector. More...
template<class Real >
ChFrame< Real >	operator* (const ChVector< Real > &Fa, const ChFrame< Real > &Fb)
	The '*' operator that transforms 'mixed' types: frame_C = vector_A * frame_B; where vector_A is a ChVector frame_B is a ChFrame Returns a ChFrame. More...
template<class Real >
ChVector< Real >	operator>> (const ChVector< Real > &Fa, const ChFrame< Real > &Fb)
	The '>>' operator that transforms 'mixed' types: vector_C = vector_A >> frame_B; where vector_A is a ChVector frame_B is a ChFrame Returns a ChVector. More...
template<class Real >
ChFrame< Real >	operator>> (const ChFrame< Real > &Fa, const ChVector< Real > &Fb)
	The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> vector_B; where frame_A is a ChFrame frame_B is a ChVector Returns a ChFrame. More...
template<class Real >
ChQuaternion< Real >	operator* (const ChFrame< Real > &Fa, const ChQuaternion< Real > &Fb)
	The '*' operator that transforms 'mixed' types: quat_C = frame_A * quat_B; where frame_A is a ChFrame quat_B is a ChQuaternion Returns a ChQuaternion. More...
template<class Real >
ChFrame< Real >	operator* (const ChQuaternion< Real > &Fa, const ChFrame< Real > &Fb)
	The '*' operator that transforms 'mixed' types: frame_C = quat_A * frame_B; where quat_A is a ChQuaternion frame_B is a ChFrame Returns a ChFrame. More...
template<class Real >
ChQuaternion< Real >	operator>> (const ChQuaternion< Real > &Fa, const ChFrame< Real > &Fb)
	The '>>' operator that transforms 'mixed' types: quat_C = quat_A >> frame_B; where quat_A is a ChQuaternion frame_B is a ChFrame Returns a ChQuaternion. More...
template<class Real >
ChFrame< Real >	operator>> (const ChFrame< Real > &Fa, const ChQuaternion< Real > &Fb)
	The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> quat_B; where frame_A is a ChFrame frame_B is a ChQuaternion Returns a ChFrame. More...
template<typename Real >
std::ostream &	operator<< (std::ostream &out, const ChFrame< Real > &f)
template<class Real >
ChFrame< Real >	operator* (const ChFrameMoving< Real > &Fa, const ChFrame< Real > &Fb)
	The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChFrameMoving frame_B is a ChFrame Returns a ChFrame. More...
template<class Real >
ChFrameMoving< Real >	operator* (const ChFrame< Real > &Fa, const ChFrameMoving< Real > &Fb)
	The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChFrame frame_B is a ChFrameMoving Returns a ChFrameMoving. More...
template<class Real >
ChFrameMoving< Real >	operator>> (const ChFrameMoving< Real > &Fa, const ChFrame< Real > &Fb)
	The '>>' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A >> frame_B; where frame_A is a ChFrameMoving frame_B is a ChFrame Returns a ChFrameMoving. More...
template<class Real >
ChFrameMoving< Real >	operator* (const ChCoordsys< Real > &Fa, const ChFrameMoving< Real > &Fb)
	The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChCoordsys frame_B is a ChFrameMoving Returns a ChFrameMoving. More...
template<class Real >
ChFrameMoving< Real >	operator>> (const ChFrameMoving< Real > &Fa, const ChCoordsys< Real > &Fb)
	The '>>' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A >> frame_B; where frame_A is a ChFrameMoving frame_B is a ChCoordsys Returns a ChFrameMoving. More...
template<class Real >
ChFrameMoving< Real >	operator* (const ChVector< Real > &Fa, const ChFrameMoving< Real > &Fb)
	The '*' operator that transforms 'mixed' types: frame_C = vector_A * frame_B; where vector_A is a ChVector frame_B is a ChFrame Returns a ChFrameMoving. More...
template<class Real >
ChFrameMoving< Real >	operator>> (const ChFrameMoving< Real > &Fa, const ChVector< Real > &Fb)
	The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> vector_B; where frame_A is a ChFrame frame_B is a ChVector Returns a ChFrameMoving. More...
template<class Real >
ChFrameMoving< Real >	operator* (const ChQuaternion< Real > &Fa, const ChFrameMoving< Real > &Fb)
	The '*' operator that transforms 'mixed' types: frame_C = quat_A * frame_B; where quat_A is a ChQuaternion frame_B is a ChFrameMoving Returns a ChFrameMoving. More...
template<class Real >
ChFrameMoving< Real >	operator>> (const ChFrameMoving< Real > &Fa, const ChQuaternion< Real > &Fb)
	The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> quat_B; where frame_A is a ChFrameMoving frame_B is a ChQuaternion Returns a ChFrameMoving. More...
void	SetFirstIntID (int val)
	Set the start value for the sequence of IDs (ATTENTION: not thread safe) Subsequent calls to GetUniqueIntID() will return val+1, val+2, etc. More...
void	SetChronoDataPath (const std::string &path)
	Set the path to the Chrono data directory (ATTENTION: not thread safe)
const std::string &	GetChronoDataPath ()
	Obtain the current path to the Chrono data directory (thread safe)
std::string	GetChronoDataFile (const std::string &filename)
	Obtain the complete path to the specified filename, given relative to the Chrono data directory (thread safe)
void	SetChronoOutputPath (const std::string &path)
	Set the path to the Chrono output directory (ATTENTION: not thread safe)
const std::string &	GetChronoOutputPath ()
	Obtain the path to the output directory for Chrono demos.
ChApi int	GetUniqueIntID ()
	Obtain a unique identifier (thread-safe)
ChLog &	GetLog ()
	Global function to get the current ChLog object.
void	SetLog (ChLog &new_logobject)
	Global function to set another ChLog object as current 'global' logging system. More...
void	SetLogDefault ()
	Global function to set the default ChLogConsole output to std::output.
double	ChAtan2 (double mcos, double msin)
	Computes the atan2, returning angle given cosine and sine.
void	ChSetRandomSeed (long newseed)
	Sets the seed of the ChRandom function (Park-Miller method)
double	ChRandom ()
	Returns random value in (0..1) interval with Park-Miller method.
void	ChPeriodicPar (double &u, int closed)
	Parameter make periodic in 0..1 (using 0..1 modulus if closed, otherwise clamping in 0..1 range)
double	ChNoise (double x, double amp, double freq, int octaves, double amp_ratio)
	Computes a 1D harmonic multi-octave noise.
double	ChSineStep (double x, double x1, double y1, double x2, double y2)
	Smooth (sinusoidal) ramp between y1 and y2. More...
int	ChMax (int a, int b)
	Maximum between two values.
double	ChMax (double a, double b)
	Maximum between two values.
int	ChMin (int a, int b)
	Minimum between two values.
double	ChMin (double a, double b)
	Minimum between two values.
template<typename T >
void	ChClampValue (T &value, T limitMin, T limitMax)
	Clamp and modify the specified value to lie within the given limits.
template<typename T >
T	ChClamp (T value, T limitMin, T limitMax)
	Clamp the specified value to lie within the given limits.
template<typename T >
int	ChSignum (T x)
	Signum function.
void	StreamOUTdenseMatlabFormat (ChMatrixConstRef A, ChStreamOutAscii &stream)
	Serialization of a dense matrix or vector into an ASCII stream (e.g. a file) in Matlab format.
void	PasteMatrix (ChSparseMatrix &matrTo, ChMatrixConstRef matrFrom, int insrow, int inscol, bool overwrite=true)
	Paste a given matrix into a sparse matrix at position (insrow, inscol). More...
void	StreamOUTsparseMatlabFormat (ChSparseMatrix &matr, ChStreamOutAscii &mstream)
	Serialization of a sparse matrix to an ASCI stream (e.g., a file) in Matlab sparse matrix format. More...
void	StreamOUT (ChSparseMatrix &matr, ChStreamOutAscii &stream)
	Serialization of a sparse matrix to an ASCII stream (for debugging; only the top-left 8x8 corner is printed).
template<typename Real >
ChVector< Real >	operator* (const Eigen::Transpose< Eigen::Matrix< Real, 3, 3, Eigen::RowMajor >> &A, const ChVector< Real > &v)
	Multiply a transposed 3x3 matrix with a vector.
template<typename Real >
ChVector< Real >	operator* (const Eigen::Transpose< const Eigen::Matrix< Real, 3, 3, Eigen::RowMajor >> &A, const ChVector< Real > &v)
	Multiply a transposed const 3x3 matrix with a vector.
template<class Real >
ChMatrix33< Real >	TensorProduct (const ChVector< Real > &vA, const ChVector< Real > &vB)
	Return the outer product (a 3x3 matrix) of two vectors.
template<typename T , typename U >
ChVector< T >	operator* (const ChMatrix34< T > &A, const ChQuaternion< U > &q)
	Multiply a 3x4 matrix with a quaternion and return a 3d vector.
template<typename T , typename U >
ChQuaternion< T >	operator* (const ChMatrix43< T > &A, const ChVector< U > &v)
	Multiply a 4x3 matrix with a 3d vector and return a quaternion.
template<typename T , typename U >
ChQuaternion< T >	operator* (const Eigen::Transpose< Eigen::Matrix< T, 3, 4, Eigen::RowMajor >> &A, const ChVector< U > &v)
	Multiply the transpose of a 3x4 matrix with a 3d vector and return a quaternion.
template<typename T , typename U >
ChQuaternion< T >	operator* (const ChMatrix44< T > &A, const ChQuaternion< U > &q)
	Multiply a 4x4 matrix with a quaternion and return a quaternion.
const ChApi ChQuaternion< double >	QNULL (0., 0., 0., 0.)
const ChApi ChQuaternion< double >	QUNIT (1., 0., 0., 0.)
const ChApi ChQuaternion< double >	Q_ROTATE_Y_TO_X (CH_C_SQRT_1_2, 0, 0, -CH_C_SQRT_1_2)
const ChApi ChQuaternion< double >	Q_ROTATE_Y_TO_Z (CH_C_SQRT_1_2, CH_C_SQRT_1_2, 0, 0)
const ChApi ChQuaternion< double >	Q_ROTATE_X_TO_Y (CH_C_SQRT_1_2, 0, 0, CH_C_SQRT_1_2)
const ChApi ChQuaternion< double >	Q_ROTATE_X_TO_Z (CH_C_SQRT_1_2, 0, -CH_C_SQRT_1_2, 0)
const ChApi ChQuaternion< double >	Q_ROTATE_Z_TO_Y (CH_C_SQRT_1_2,-CH_C_SQRT_1_2, 0, 0)
const ChApi ChQuaternion< double >	Q_ROTATE_Z_TO_X (CH_C_SQRT_1_2, 0, CH_C_SQRT_1_2, 0)
const ChApi ChQuaternion< double >	Q_FLIP_AROUND_X (0., 1., 0., 0.)
const ChApi ChQuaternion< double >	Q_FLIP_AROUND_Y (0., 0., 1., 0.)
const ChApi ChQuaternion< double >	Q_FLIP_AROUND_Z (0., 0., 0., 1.)
double	Qlength (const ChQuaternion< double > &q)
ChQuaternion< double >	Qscale (const ChQuaternion< double > &q, double fact)
ChQuaternion< double >	Qadd (const ChQuaternion< double > &qa, const ChQuaternion< double > &qb)
ChQuaternion< double >	Qsub (const ChQuaternion< double > &qa, const ChQuaternion< double > &qb)
ChQuaternion< double >	Qnorm (const ChQuaternion< double > &q)
	Return the norm two of the quaternion. Euler's parameters have norm = 1.
ChQuaternion< double >	Qconjugate (const ChQuaternion< double > &q)
	Return the conjugate of the quaternion [s,v1,v2,v3] is [s,-v1,-v2,-v3].
ChQuaternion< double >	Qcross (const ChQuaternion< double > &qa, const ChQuaternion< double > &qb)
	Return the product of two quaternions. It is non-commutative (like cross product in vectors).
ChQuaternion< double >	Q_from_AngAxis (double angle, const ChVector< double > &axis)
	Get the quaternion from an angle of rotation and an axis, defined in abs coords. More...
ChQuaternion< double >	Q_from_Vect_to_Vect (const ChVector< double > &fr_vect, const ChVector< double > &to_vect)
	Get the quaternion from a source vector and a destination vector which specifies the rotation from one to the other. More...
ChQuaternion< double >	Q_from_AngZ (double angleZ)
ChQuaternion< double >	Q_from_AngX (double angleX)
ChQuaternion< double >	Q_from_AngY (double angleY)
ChQuaternion< double >	Q_from_NasaAngles (const ChVector< double > &mang)
ChVector< double >	Q_to_NasaAngles (const ChQuaternion< double > &q1)
ChQuaternion< double >	Q_from_Euler123 (const ChVector< double > &ang)
ChVector< double >	Q_to_Euler123 (const ChQuaternion< double > &mq)
void	Q_to_AngAxis (const ChQuaternion< double > &quat, double &angle, ChVector< double > &axis)
ChQuaternion< double >	Qdt_from_Wabs (const ChVector< double > &w, const Quaternion &q)
	Get the quaternion time derivative from the vector of angular speed, with w specified in absolute coords.
ChQuaternion< double >	Qdt_from_Wrel (const ChVector< double > &w, const Quaternion &q)
	Get the quaternion time derivative from the vector of angular speed, with w specified in local coords.
ChQuaternion< double >	Qdtdt_from_Aabs (const ChVector< double > &a, const ChQuaternion< double > &q, const ChQuaternion< double > &q_dt)
	Get the quaternion first derivative from the vector of angular acceleration with a specified in absolute coords.
ChQuaternion< double >	Qdtdt_from_Arel (const ChVector< double > &a, const ChQuaternion< double > &q, const ChQuaternion< double > &q_dt)
	Get the quaternion second derivative from the vector of angular acceleration with a specified in relative coords.
ChQuaternion< double >	Qdt_from_AngAxis (const ChQuaternion< double > &quat, double angle_dt, const ChVector< double > &axis)
	Get the time derivative from a quaternion, a speed of rotation and an axis, defined in abs coords.
ChQuaternion< double >	Qdtdt_from_AngAxis (double angle_dtdt, const ChVector< double > &axis, const ChQuaternion< double > &q, const ChQuaternion< double > &q_dt)
	Get the second time derivative from a quaternion, an angular acceleration and an axis, defined in abs coords.
bool	Qequal (const ChQuaternion< double > &qa, const ChQuaternion< double > &qb)
	Check if two quaternions are equal.
bool	Qnotnull (const ChQuaternion< double > &qa)
	Check if quaternion is not null.
ChQuaternion< double >	ImmQ_complete (const ChVector< double > &qimm)
	Given the imaginary (vectorial) {e1 e2 e3} part of a quaternion, find the entire quaternion q = {e0, e1, e2, e3}. More...
ChQuaternion< double >	ImmQ_dt_complete (const ChQuaternion< double > &mq, const ChVector< double > &qimm_dt)
	Given the imaginary (vectorial) {e1 e2 e3} part of a quaternion time derivative, find the entire quaternion q = {e0, e1, e2, e3}. More...
ChQuaternion< double >	ImmQ_dtdt_complete (const ChQuaternion< double > &mq, const ChQuaternion< double > &mqdt, const ChVector< double > &qimm_dtdt)
	Given the imaginary (vectorial) {e1 e2 e3} part of a quaternion second time derivative, find the entire quaternion q = {e0, e1, e2, e3}. More...
ChQuaternion< double >	Angle_to_Quat (AngleSet angset, const ChVector< double > &mangles)
ChVector< double >	Quat_to_Angle (AngleSet angset, const ChQuaternion< double > &mquat)
	Angle conversion utilities.
ChQuaternion< double >	AngleDT_to_QuatDT (AngleSet angset, const ChVector< double > &mangles, const ChQuaternion< double > &q)
ChQuaternion< double >	AngleDTDT_to_QuatDTDT (AngleSet angset, const ChVector< double > &mangles, const ChQuaternion< double > &q)
ChVector< double >	Angle_to_Angle (AngleSet setfrom, AngleSet setto, const ChVector< double > &mangles)
ChVector< double >	VaxisXfromQuat (const ChQuaternion< double > &quat)
template<typename Real >
std::ostream &	operator<< (std::ostream &out, const ChQuaternion< Real > &q)
	Insertion of quaternion to output stream.
template<class T >
void	create (std::string cls_name, T **ppObj)
	Ugly hack added by hammad to get code to compile on osx. More...
template<class T >
void	StreamSwapBytes (T *ptData)
	Templated function for swapping bytes of objects of type 'T', in general fo whatever T type. More...
const ChApi ChVector< double >	VNULL (0., 0., 0.)
const ChApi ChVector< double >	VECT_X (1., 0., 0.)
const ChApi ChVector< double >	VECT_Y (0., 1., 0.)
const ChApi ChVector< double >	VECT_Z (0., 0., 1.)
template<class RealA , class RealB >
RealA	Vdot (const ChVector< RealA > &va, const ChVector< RealB > &vb)
template<class RealA >
void	Vset (ChVector< RealA > &v, RealA mx, RealA my, RealA mz)
template<class RealA , class RealB >
ChVector< RealA >	Vadd (const ChVector< RealA > &va, const ChVector< RealB > &vb)
template<class RealA , class RealB >
ChVector< RealA >	Vsub (const ChVector< RealA > &va, const ChVector< RealB > &vb)
template<class RealA , class RealB >
ChVector< RealA >	Vcross (const ChVector< RealA > &va, const ChVector< RealB > &vb)
template<class RealA , class RealB >
ChVector< RealA >	Vmul (const ChVector< RealA > &va, RealB fact)
template<class RealA >
RealA	Vlength (const ChVector< RealA > &va)
template<class RealA >
ChVector< RealA >	Vnorm (const ChVector< RealA > &va)
template<class RealA , class RealB >
bool	Vequal (const ChVector< RealA > &va, const ChVector< RealB > &vb)
template<class RealA >
bool	Vnotnull (const ChVector< RealA > &va)
template<class RealA >
double	VangleYZplane (const ChVector< RealA > &va)
template<class RealA >
double	VangleYZplaneNorm (const ChVector< RealA > &va)
template<class RealA >
double	VangleRX (const ChVector< RealA > &va)
template<class RealA >
ChVector< RealA >	VfromPolar (double norm_angle, double pol_angle)
template<class RealA >
void	XdirToDxDyDz (const ChVector< RealA > &Vxdir, const ChVector< RealA > &Vsingular, ChVector< RealA > &Vx, ChVector< RealA > &Vy, ChVector< RealA > &Vz)
template<typename Real >
std::ostream &	operator<< (std::ostream &out, const ChVector< Real > &v)
	Insertion ov 3d vector to output stream.
template<class Real >
ChVector< Real >	operator* (Real s, const ChVector< Real > &V)
	Operator for scaling the vector by a scalar value, as s*V.
template<class RealA , class RealB >
RealA	Vdot (const ChVector2< RealA > va, const ChVector2< RealB > vb)
template<class RealA >
void	Vset (ChVector2< RealA > &v, RealA mx, RealA my)
template<class RealA , class RealB >
ChVector2< RealA >	Vadd (const ChVector2< RealA > &va, const ChVector2< RealB > &vb)
template<class RealA , class RealB >
ChVector2< RealA >	Vsub (const ChVector2< RealA > &va, const ChVector2< RealB > &vb)
template<class RealA , class RealB >
ChVector2< RealA >	Vmul (const ChVector2< RealA > &va, RealB fact)
template<class RealA >
RealA	Vlength (const ChVector2< RealA > &va)
template<class RealA >
ChVector2< RealA >	Vnorm (const ChVector2< RealA > &va)
template<class RealA , class RealB >
bool	Vequal (const ChVector2< RealA > &va, const ChVector2< RealB > &vb)
template<class RealA >
bool	Vnotnull (const ChVector2< RealA > &va)
template<class RealA , class RealB >
ChVector2< RealA >	Vrot (const ChVector2< RealA > &v, RealB angle)
template<class Real >
ChVector2< Real >	operator* (const Real s, const ChVector2< Real > &V)
	Operator for scaling the vector by a scalar value, as s*V.
template<typename T >
ChFunction_Lambda< T >	make_ChFunction_Lambda (T &&func)
	Create a stack-allocated ChFunction_Lambda. More...
template<typename T >
std::shared_ptr< ChFunction_Lambda< T > >	make_shared_ChFunction_Lambda (T &&func)
	Create a shared pointer to a heap-allocated ChFunction_Lambda. More...
double	Interpolate_y (double x, const ChRecPoint &p1, const ChRecPoint &p2)
ChQuaternion	SLERP (const ChQuaternion<> &qa, const ChQuaternion<> &qb, double t)
ChQuaternion	QUADRANGLE (const ChQuaternion<> &q0, const ChQuaternion<> &q1, const ChQuaternion<> &q2)
template<class Tcont , class Titer >
void	_RemoveAllContacts (std::list< Tcont * > &contactlist, Titer &lastcontact, int &n_added)
template<class Tcont , class Titer , class Ta , class Tb >
void	_OptimalContactInsert (std::list< Tcont * > &contactlist, Titer &lastcontact, int &n_added, ChContactContainer *mcontainer, Ta *objA, Tb *objB, const collision::ChCollisionInfo &cinfo)
template<class Tcont >
void	_ReportAllContacts (std::list< Tcont * > &contactlist, ChContactContainer::ReportContactCallback *mcallback)
template<class Tcont >
void	_ReportAllContactsRolling (std::list< Tcont * > &contactlist, ChContactContainer::ReportContactCallback *mcallback)
template<class Tcont >
void	_IntStateGatherReactions (unsigned int &coffset, std::list< Tcont * > &contactlist, const unsigned int off_L, ChVectorDynamic<> &L, const int stride)
template<class Tcont >
void	_IntStateScatterReactions (unsigned int &coffset, std::list< Tcont * > &contactlist, const unsigned int off_L, const ChVectorDynamic<> &L, const int stride)
template<class Tcont >
void	_IntLoadResidual_CqL (unsigned int &coffset, std::list< Tcont * > &contactlist, const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c, const int stride)
template<class Tcont >
void	_IntLoadConstraint_C (unsigned int &coffset, std::list< Tcont * > &contactlist, const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp, const int stride)
template<class Tcont >
void	_IntToDescriptor (unsigned int &coffset, std::list< Tcont * > &contactlist, const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc, const int stride)
template<class Tcont >
void	_IntFromDescriptor (unsigned int &coffset, std::list< Tcont * > &contactlist, const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L, const int stride)
template<class Tcont >
void	_InjectConstraints (std::list< Tcont * > &contactlist, ChSystemDescriptor &mdescriptor)
template<class Tcont >
void	_ConstraintsBiReset (std::list< Tcont * > &contactlist)
template<class Tcont >
void	_ConstraintsBiLoad_C (std::list< Tcont * > &contactlist, double factor, double recovery_clamp, bool do_clamp)
template<class Tcont >
void	_ConstraintsFetch_react (std::list< Tcont * > &contactlist, double factor)
template<class Tcont >
void	_IntLoadResidual_F (std::list< Tcont * > &contactlist, ChVectorDynamic<> &R, const double c)
template<class Tcont >
void	_KRMmatricesLoad (std::list< Tcont * > contactlist, double Kfactor, double Rfactor)
template<class Tcont >
void	_InjectKRMmatrices (std::list< Tcont * > contactlist, ChSystemDescriptor &mdescriptor)
void	Transform_Cq_to_Cqw_row (const ChMatrixNM< double, 7, BODY_QDOF > &mCq, int qrow, ChMatrixRef mCqw, int qwrow, const ChGlMatrix34<> &Gl)
template<class T , class Iterator >
T	ChContainerSearchFromName (const char *m_name, Iterator from, Iterator to)
template<class T , class Iterator >
T	ChContainerSearchFromID (int myID, Iterator from, Iterator to)
template<class T >
ChNameValue< T >	make_ChNameValue (const char *auto_name, const T &t, const char *custom_name, char flags=0)
template<class T >
ChNameValue< T >	make_ChNameValue (const char *auto_name, const T &t, char flags=0)
template<class T >
ChStreamOutAscii &	operator<< (ChStreamOutAscii &mstream, const T &obj)
	This is used to stream out in 'readable' form on a ChStreamOutAscii stream whatever C++ object that implements the archive serialization, i.e. More...
	CH_ENUM_MAPPER_BEGIN (eChConstraintMode)
	CH_ENUM_VAL (eChConstraintMode::CONSTRAINT_FREE)
	CH_ENUM_VAL (eChConstraintMode::CONSTRAINT_FRIC)
	CH_ENUM_VAL (eChConstraintMode::CONSTRAINT_LOCK)
	CH_ENUM_VAL (eChConstraintMode::CONSTRAINT_UNILATERAL)
	CH_ENUM_MAPPER_END (eChConstraintMode)
void	null_entry_solv_opt (double x[], double g[])
	A 3rd party function which performs local optimization.
double	CalcFO (double x[], void *idData)
	Ch_local_optimizer Local optimization engine member functions.
void	showVarFun ()
double	solvopt (unsigned int n, double x[], double fun(double x[], void *idData), void grad(double x[], double g[]), double options[], void *idData, void(*showDisplay)(), int showEvery, int *breakCicle, int &err_code)
ChState	operator+ (const ChState &y, const ChStateDelta &Dy)
	Custom operator "+" that takes care of incremental update of a state y by an increment Dy. More...
ChState &	operator+= (ChState &y, const ChStateDelta &Dy)
ChState	operator+ (const ChStateDelta &Dy, const ChState &y)
	Custom operator "+" that takes care of incremental update of a state y by an increment Dy "y_new = Dy + y", invokes the specialized StateIncrement() in the ChIntegrable. More...
template<typename Enumeration >
auto	as_integer (Enumeration const value) -> typename std::underlying_type< Enumeration >::type
	Explicit conversion of scoped enumeration to int (e.g. for streaming).
CH_PARALLEL_API void	Orthogonalize (real3 &Vx, real3 &Vy, real3 &Vz)
CH_PARALLEL_API void	Compute_Jacobian (const quaternion &quat, const real3 &U, const real3 &V, const real3 &W, const real3 &point, real3 &T1, real3 &T2, real3 &T3)
CH_PARALLEL_API void	Compute_Jacobian_Rolling (const quaternion &quat, const real3 &U, const real3 &V, const real3 &W, real3 &T1, real3 &T2, real3 &T3)
CH_PARALLEL_API bool	Cone_generalized_rigid (real &gamma_n, real &gamma_u, real &gamma_v, real mu)
CH_PARALLEL_API bool	Cone_single_rigid (real &gamma_n, real &gamma_s, real mu)
CH_PARALLEL_API void	AppendRigidFluidBoundary (const real contact_mu, const uint num_fluid_bodies, const uint body_offset, const uint start_boundary, ChParallelDataManager *data_manager)
CH_PARALLEL_API void	ProjectRigidFluidBoundary (const real contact_mu, const real contact_cohesion, const uint num_fluid_bodies, const uint start_boundary, real *gamma, ChParallelDataManager *data_manager)
CH_PARALLEL_API void	ComplianceRigidFluidBoundary (const real contact_mu, const real contact_compliance, const real alpha, const uint start_boundary, ChParallelDataManager *data_manager)
CH_PARALLEL_API void	CorrectionRigidFluidBoundary (const real contact_mu, const real contact_cohesion, const real alpha, const real contact_recovery_speed, const uint num_fluid_bodies, const uint start_boundary, ChParallelDataManager *data_manager)
CH_PARALLEL_API void	BuildRigidFluidBoundary (const real contact_mu, const uint num_fluid_bodies, const uint body_offset, const uint start_boundary, ChParallelDataManager *data_manager)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	DotMM (const real *M)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	DotMM (const real *M, const real *N)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	MulMM (const real *M, const real *N)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	MulM_TM (const real *M, const real *N)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	MulMV (const real *M, const real *N)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	OuterProductVV (const real *A, const real *B)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	ScaleMat (const real *M, const real b)
CUDA_HOST_DEVICE CH_PARALLEL_API SymMat33	NormalEquations (const real *A)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	MAbs (const real *M)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	operator* (const Mat33 &M, const real3 &v)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	operator* (const Mat33 &N, const real scale)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	operator* (const Mat33 &M, const Mat33 &N)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	operator+ (const Mat33 &M, const Mat33 &N)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	operator- (const Mat33 &M, const Mat33 &N)
CUDA_HOST_DEVICE CH_PARALLEL_API OPERATOR_EQUALSALT real CUDA_HOST_DEVICE CH_PARALLEL_API OPERATOR_EQUALSALT Mat33 CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALSALT (+, Mat33, Mat33) CUDA_HOST_DEVICE CH_PARALLEL_API OPERATOR_EQUALSALT(-
CUDA_HOST_DEVICE CH_PARALLEL_API OPERATOR_EQUALSALT real CUDA_HOST_DEVICE CH_PARALLEL_API OPERATOR_EQUALSALT Mat33 CUDA_HOST_DEVICE CH_PARALLEL_API Mat33 CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	operator- (const Mat33 &M)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	operator* (const real s, const Mat33 &a)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	Abs (const Mat33 &m)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	SkewSymmetric (const real3 &r)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	SkewSymmetricAlt (const real3 &r)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	MultTranspose (const Mat33 &M, const Mat33 &N)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	TransposeMult (const Mat33 &M, const Mat33 &N)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	Transpose (const Mat33 &a)
CUDA_HOST_DEVICE CH_PARALLEL_API real	Trace (const Mat33 &m)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	OuterProduct (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE CH_PARALLEL_API real	InnerProduct (const Mat33 &A, const Mat33 &B)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	Adjoint (const Mat33 &A)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	AdjointTranspose (const Mat33 &A)
CUDA_HOST_DEVICE CH_PARALLEL_API real	Determinant (const Mat33 &m)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	Inverse (const Mat33 &A)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	InverseTranspose (const Mat33 &A)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	InverseUnsafe (const Mat33 &A)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	InverseTransposeUnsafe (const Mat33 &A)
CUDA_HOST_DEVICE CH_PARALLEL_API real	Norm (const Mat33 &A)
CUDA_HOST_DEVICE CH_PARALLEL_API real	NormSq (const Mat33 &A)
CUDA_HOST_DEVICE CH_PARALLEL_API real	DoubleDot (const Mat33 &A, const Mat33 &B)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	LargestColumnNormalized (const Mat33 &A)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat33	operator* (const DiagMat33 &M, const Mat33 &N)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	operator* (const DiagMat33 &M, const real3 &v)
CUDA_HOST_DEVICE CH_PARALLEL_API SymMat33	operator- (const SymMat33 &M, const real &v)
CUDA_HOST_DEVICE CH_PARALLEL_API SymMat33	CofactorMatrix (const SymMat33 &A)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	LargestColumnNormalized (const SymMat33 &A)
CUDA_HOST_DEVICE CH_PARALLEL_API SymMat33	NormalEquationsMatrix (const Mat33 &A)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	operator* (const Mat32 &M, const real2 &v)
CUDA_HOST_DEVICE CH_PARALLEL_API Mat32	operator* (const SymMat33 &M, const Mat32 &N)
CUDA_HOST_DEVICE CH_PARALLEL_API SymMat22	operator- (const SymMat22 &M, const real &v)
CUDA_HOST_DEVICE CH_PARALLEL_API SymMat22	CofactorMatrix (const SymMat22 &A)
CUDA_HOST_DEVICE CH_PARALLEL_API real2	LargestColumnNormalized (const SymMat22 &A)
CUDA_HOST_DEVICE CH_PARALLEL_API SymMat22	TransposeTimesWithSymmetricResult (const Mat32 &A, const Mat32 &B)
CUDA_HOST_DEVICE CH_PARALLEL_API SymMat22	ConjugateWithTranspose (const Mat32 &A, const SymMat33 &B)
CUDA_HOST_DEVICE CH_PARALLEL_API void	Print (const Mat33 &A, const char *name)
CUDA_HOST_DEVICE CH_PARALLEL_API void	Print (const Mat32 &A, const char *name)
CUDA_HOST_DEVICE CH_PARALLEL_API void	Print (const SymMat33 &A, const char *name)
CUDA_HOST_DEVICE CH_PARALLEL_API void	Print (const SymMat22 &A, const char *name)
CUDA_HOST_DEVICE CH_PARALLEL_API void	PrintLine (const Mat33 &A, const char *name)
CUDA_HOST_DEVICE CH_PARALLEL_API void	PrintLine (const Mat32 &A, const char *name)
CUDA_HOST_DEVICE CH_PARALLEL_API void	PrintLine (const SymMat33 &A, const char *name)
CUDA_HOST_DEVICE CH_PARALLEL_API void	PrintLine (const SymMat22 &A, const char *name)
CUDA_HOST_DEVICE CH_PARALLEL_API OPERATOR_EQUALSALT_PROTO real CUDA_HOST_DEVICE CH_PARALLEL_API OPERATOR_EQUALSALT_PROTO Mat33 CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALSALT_PROTO (+, Mat33, Mat33) CUDA_HOST_DEVICE CH_PARALLEL_API OPERATOR_EQUALSALT_PROTO(-
template<typename T >
CUDA_HOST_DEVICE void	Swap (T &a, T &b)
template<typename T >
CUDA_HOST_DEVICE void	Sort (T &a, T &b, T &c)
CUDA_HOST_DEVICE float	Clamp (float x, float low, float high)
CUDA_HOST_DEVICE OPERATOR_EQUALSALT float CUDA_HOST_DEVICE OPERATOR_EQUALSALT Mat33f CUDA_HOST_DEVICE	OPERATOR_EQUALSALT (+, Mat33f, Mat33f) CUDA_HOST_DEVICE OPERATOR_EQUALSALT(-
CUDA_HOST_DEVICE CH_PARALLEL_API vec3	operator- (const vec3 &a, const vec3 &b)
CUDA_HOST_DEVICE CH_PARALLEL_API vec3	operator- (const vec3 &a, const int &b)
CUDA_HOST_DEVICE CH_PARALLEL_API vec3	operator+ (const vec3 &a, const vec3 &b)
CUDA_HOST_DEVICE CH_PARALLEL_API vec3	operator+ (const vec3 &a, const int &b)
CUDA_HOST_DEVICE CH_PARALLEL_API vec3	Clamp (const vec3 &a, const vec3 &clamp_min, const vec3 &clamp_max)
CUDA_HOST_DEVICE real	Lerp (const real &start, const real &end, const real &t)
template<typename T >
CUDA_HOST_DEVICE void	SwapIfGreater (T &a, T &b)
CUDA_HOST_DEVICE real	Clamp (real x, real low, real high)
	Clamps a given value a between user specified minimum and maximum values.
CUDA_HOST_DEVICE real	ClampMin (real x, real low)
CUDA_HOST_DEVICE real	ClampMax (real x, real high)
CUDA_HOST_DEVICE real2	operator+ (const real2 &a, real b)
CUDA_HOST_DEVICE real2	operator- (const real2 &a, real b)
CUDA_HOST_DEVICE real2	operator* (const real2 &a, real b)
CUDA_HOST_DEVICE real2	operator/ (const real2 &a, real b)
CUDA_HOST_DEVICE real2	operator+ (const real2 &a, const real2 &b)
CUDA_HOST_DEVICE real2	operator- (const real2 &a, const real2 &b)
CUDA_HOST_DEVICE real2	operator* (const real2 &a, const real2 &b)
CUDA_HOST_DEVICE real2	operator/ (const real2 &a, const real2 &b)
CUDA_HOST_DEVICE real2	operator- (const real2 &a)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_IMPL (/, real, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_IMPL (+, real, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_IMPL (-, real, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_IMPL (/, real2, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_IMPL (+, real2, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_IMPL (-, real2, real2)
CUDA_HOST_DEVICE real2	operator* (real lhs, const real2 &rhs)
CUDA_HOST_DEVICE bool	operator== (const real2 &lhs, const real2 &rhs)
CUDA_HOST_DEVICE real2	Max (const real2 &a, const real2 &b)
CUDA_HOST_DEVICE real2	Min (const real2 &a, const real2 &b)
CUDA_HOST_DEVICE real	Dot (const real2 &v1, const real2 &v2)
CUDA_HOST_DEVICE real	Dot (const real2 &v)
CUDA_HOST_DEVICE real	Length2 (const real2 &v1)
CUDA_HOST_DEVICE real2	Normalize (const real2 &v1)
CUDA_HOST_DEVICE void	Print (real2 v, const char *name)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_PROTO (/, real, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_PROTO (+, real, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_PROTO (-, real, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_PROTO (/, real2, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_PROTO (+, real2, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_PROTO (-, real2, real2)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	Set3 (real x)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	Set3 (real x, real y, real z)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	operator+ (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	operator- (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	operator* (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	operator/ (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	operator+ (const real3 &a, real b)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	operator- (const real3 &a, real b)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	operator* (const real3 &a, real b)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	operator/ (const real3 &a, real b)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	operator* (real lhs, const real3 &rhs)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	operator/ (real lhs, const real3 &rhs)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	operator- (const real3 &a)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_IMPL (/, real, real3)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_IMPL (+, real, real3)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_IMPL (-, real, real3)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_IMPL (/, real3, real3)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_IMPL (+, real3, real3)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_IMPL (-, real3, real3)
CUDA_HOST_DEVICE CH_PARALLEL_API real	Dot (const real3 &v1, const real3 &v2)
CUDA_HOST_DEVICE CH_PARALLEL_API real	Dot (const real3 &v)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	Normalize (const real3 &v)
CUDA_HOST_DEVICE CH_PARALLEL_API real	Length (const real3 &v)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	Sqrt (const real3 &v)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	Cross (const real3 &b, const real3 &c)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	Abs (const real3 &v)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	Sign (const real3 &v)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	Max (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	Min (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	Max (const real3 &a, const real &b)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	Min (const real3 &a, const real &b)
CUDA_HOST_DEVICE CH_PARALLEL_API real	Max (const real3 &a)
CUDA_HOST_DEVICE CH_PARALLEL_API real	Min (const real3 &a)
CUDA_HOST_DEVICE CH_PARALLEL_API real	Length2 (const real3 &v1)
CUDA_HOST_DEVICE CH_PARALLEL_API real	SafeLength (const real3 &v)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	SafeNormalize (const real3 &v, const real3 &safe)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	Clamp (const real3 &a, const real3 &clamp_min, const real3 &clamp_max)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	Clamp (const real3 &v, real max_length)
CUDA_HOST_DEVICE CH_PARALLEL_API bool	operator< (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE CH_PARALLEL_API bool	operator> (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE CH_PARALLEL_API bool	operator== (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	Round (const real3 &v)
CUDA_HOST_DEVICE CH_PARALLEL_API bool	IsZero (const real3 &v)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	OrthogonalVector (const real3 &v)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	UnitOrthogonalVector (const real3 &v)
CUDA_HOST_DEVICE CH_PARALLEL_API void	Print (real3 v, const char *name)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_PROTO (/, real, real3)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_PROTO (+, real, real3)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_PROTO (-, real, real3)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_PROTO (/, real3, real3)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_PROTO (+, real3, real3)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_PROTO (-, real3, real3)
CUDA_HOST_DEVICE CH_PARALLEL_API void	Sort (real &a, real &b, real &c)
CUDA_HOST_DEVICE CH_PARALLEL_API real4	Set4 (real x)
CUDA_HOST_DEVICE CH_PARALLEL_API real4	Set4 (real x, real y, real z, real w)
CUDA_HOST_DEVICE CH_PARALLEL_API real4	operator+ (const real4 &a, const real4 &b)
CUDA_HOST_DEVICE CH_PARALLEL_API real4	operator- (const real4 &a, const real4 &b)
CUDA_HOST_DEVICE CH_PARALLEL_API real4	operator* (const real4 &a, const real4 &b)
CUDA_HOST_DEVICE CH_PARALLEL_API real4	operator/ (const real4 &a, const real4 &b)
CUDA_HOST_DEVICE CH_PARALLEL_API real4	operator+ (const real4 &a, real b)
CUDA_HOST_DEVICE CH_PARALLEL_API real4	operator- (const real4 &a, real b)
CUDA_HOST_DEVICE CH_PARALLEL_API real4	operator* (const real4 &a, real b)
CUDA_HOST_DEVICE CH_PARALLEL_API real4	operator/ (const real4 &a, real b)
CUDA_HOST_DEVICE CH_PARALLEL_API real4	operator- (const real4 &a)
CUDA_HOST_DEVICE CH_PARALLEL_API real4	Dot4 (const real3 &v, const real3 &v1, const real3 &v2, const real3 &v3, const real3 &v4)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_IMPL (/, real, real4)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_IMPL (+, real, real4)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_IMPL (-, real, real4)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_IMPL (/, real4, real4)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_IMPL (+, real4, real4)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_IMPL (-, real4, real4)
CUDA_HOST_DEVICE CH_PARALLEL_API quaternion	SetQ (real x)
CUDA_HOST_DEVICE CH_PARALLEL_API quaternion	SetQ (real w, real x, real y, real z)
CUDA_HOST_DEVICE CH_PARALLEL_API quaternion	operator+ (const quaternion &a, real b)
CUDA_HOST_DEVICE CH_PARALLEL_API quaternion	operator- (const quaternion &a, real b)
CUDA_HOST_DEVICE CH_PARALLEL_API quaternion	operator* (const quaternion &a, real b)
CUDA_HOST_DEVICE CH_PARALLEL_API quaternion	operator/ (const quaternion &a, real b)
CUDA_HOST_DEVICE CH_PARALLEL_API quaternion	operator- (const quaternion &a)
CUDA_HOST_DEVICE CH_PARALLEL_API quaternion	operator~ (const quaternion &a)
CUDA_HOST_DEVICE CH_PARALLEL_API quaternion	Inv (const quaternion &a)
CUDA_HOST_DEVICE CH_PARALLEL_API real	Dot (const quaternion &v1, const quaternion &v2)
CUDA_HOST_DEVICE CH_PARALLEL_API real	Dot (const quaternion &v)
CUDA_HOST_DEVICE CH_PARALLEL_API quaternion	Mult (const quaternion &a, const quaternion &b)
CUDA_HOST_DEVICE CH_PARALLEL_API quaternion	Normalize (const quaternion &v)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	Rotate (const real3 &v, const quaternion &q)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	RotateT (const real3 &v, const quaternion &q)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	AbsRotate (const quaternion &q, const real3 &v)
CUDA_HOST_DEVICE CH_PARALLEL_API quaternion	Q_from_AngAxis (const real &angle, const real3 &axis)
CUDA_HOST_DEVICE CH_PARALLEL_API real3	AMatV (const quaternion &q)
CUDA_HOST_DEVICE CH_PARALLEL_API void	Print (quaternion v, const char *name)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_PROTO (/, real, real4)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_PROTO (+, real, real4)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_PROTO (-, real, real4)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_PROTO (/, real4, real4)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_PROTO (+, real4, real4)
CUDA_HOST_DEVICE CH_PARALLEL_API	OPERATOR_EQUALS_PROTO (-, real4, real4)
uvec3	SortedFace (int face, const uvec4 &tetrahedron)
uvec3	UnSortedFace (int face, const uvec4 &tetrahedron)
bool	Cone_generalized_rnode (real &gamma_n, real &gamma_u, real &gamma_v, const real &mu)
bool	customCompare (const FaceData &face1, const FaceData &face2)
real	N (const real &dist, const real &h)
real	cubic_spline (const real &dist, const real &h)
real3	grad_cubic_spline (const real3 &dist, const real d, const real &h)
real	poly6 (const real &dist, const real &h)
real3	grad_poly6 (const real3 &xij, const real d, const real &h)
real	spiky (const real &dist, const real &h)
real3	grad_spiky (const real3 &xij, const real dist, const real &h)
real	unormalized_spiky (const real &dist, const real &h)
real3	unormalized_grad_spiky (const real3 &xij, const real d, const real &h)
real3	viscosity (const real3 &xij, const real d, const real &h)
real3	grad2_viscosity (const real3 &xij, const real d, const real &h)
real	kernel (const real &dist, const real &h)
real	grad2_poly6 (const real &dist, const real &h)
void	MPM_Initialize (MPM_Settings &settings, std::vector< float > &positions)
void	MPM_Solve (MPM_Settings &settings, std::vector< float > &positions, std::vector< float > &velocities)
void	MPM_UpdateDeformationGradient (MPM_Settings &settings, std::vector< float > &positions, std::vector< float > &velocities, std::vector< float > &jejp)
BilateralType	GetBilateralType (ChPhysicsItem *item)

Variables
const ChApi ChCoordsys< double >	CSYSNULL
const ChApi ChCoordsys< double >	CSYSNORM
ChQuadratureTables	static_tables (1, CH_QUADRATURE_STATIC_TABLES)
ChQuadratureTablesTriangle	static_tables_triangle
ChQuadratureTablesTetrahedron	static_tables_tetrahedron
const ChApi ChQuaternion< double >	QNULL
	Constant null quaternion: {0, 0, 0, 0}.
const ChApi ChQuaternion< double >	QUNIT
	Constant unit quaternion: {1, 0, 0, 0} , corresponds to no rotation (diagonal rotation matrix)
const ChApi ChQuaternion< double >	Q_ROTATE_Y_TO_X
const ChApi ChQuaternion< double >	Q_ROTATE_Y_TO_Z
const ChApi ChQuaternion< double >	Q_ROTATE_X_TO_Y
const ChApi ChQuaternion< double >	Q_ROTATE_X_TO_Z
const ChApi ChQuaternion< double >	Q_ROTATE_Z_TO_Y
const ChApi ChQuaternion< double >	Q_ROTATE_Z_TO_X
const ChApi ChQuaternion< double >	Q_FLIP_AROUND_X
const ChApi ChQuaternion< double >	Q_FLIP_AROUND_Y
const ChApi ChQuaternion< double >	Q_FLIP_AROUND_Z
const ChApi ChVector< double >	VNULL
const ChApi ChVector< double >	VECT_X
const ChApi ChVector< double >	VECT_Y
const ChApi ChVector< double >	VECT_Z
const int	BODY_DOF = 6
	degrees of freedom of body in 3d space
const int	BODY_QDOF = 7
	degrees of freedom with quaternion rotation state
const int	BODY_ROT = 3
	rotational dof in Newton dynamics
CUDA_HOST_DEVICE CH_PARALLEL_API OPERATOR_EQUALSALT real CUDA_HOST_DEVICE CH_PARALLEL_API OPERATOR_EQUALSALT Mat33 CUDA_HOST_DEVICE CH_PARALLEL_API	Mat33
CUDA_HOST_DEVICE OPERATOR_EQUALSALT float CUDA_HOST_DEVICE OPERATOR_EQUALSALT Mat33f CUDA_HOST_DEVICE	Mat33f
CUDA_HOST_DEVICE OPERATOR_EQUALS_IMPL *	real2
CUDA_HOST_DEVICE CH_PARALLEL_API OPERATOR_EQUALS_IMPL *	real3
CUDA_HOST_DEVICE CH_PARALLEL_API OPERATOR_EQUALS_IMPL *	real4

Typedef Documentation

Coordsys

typedef ChCoordsys<double> chrono::Coordsys

Shortcut for faster use of typical double-precision coordsys.

Instead of writing "ChCoordsys<double> foo;" you can write the shorter version "Coordsys foo;"

Quaternion

typedef ChQuaternion<double> chrono::Quaternion

Shortcut for faster use of typical double-precision quaternion.

Instead of writing
   ChQuaternion<double> foo;
or
   ChQuaternion<> foo;
you can use the shorter version
   Quaternion foo;

QuaternionF

typedef ChQuaternion<float> chrono::QuaternionF

Shortcut for faster use of typical single-precision quaternion.

Instead of writing
   ChQuaternion<float> foo;
you can use the shorter version
   Quaternion foo;

Vector

typedef ChVector<double> chrono::Vector

Shortcut for faster use of typical double-precision vectors.

Instead of writing
   ChVector<double> foo;
or
   ChVector<> foo;
you can use the shorter version
   Vector foo;

VectorF

typedef ChVector<float> chrono::VectorF

Shortcut for faster use of typical single-precision vectors.

Instead of writing
   ChVector<float> foo;
you can use the shorter version
   Vector foo;

Enumeration Type Documentation

AngleSet

enum chrono::AngleSet

strong

Definitions of various angle sets for conversions.

Enumerator
EULERO	sequence: Z - X' - Z''
CARDANO	sequence: Z - X' - Y''
HPB	sequence:
RXYZ	sequence: X - Y' - Z''

eChConstraintMode

enum chrono::eChConstraintMode

Modes for constraint.

Enumerator
CONSTRAINT_FREE	the constraint does not enforce anything
CONSTRAINT_LOCK	the constraint enforces c_i=0;
CONSTRAINT_UNILATERAL	the constraint enforces linear complementarity c_i>=0, l_i>=0, l_1*c_i=0;
CONSTRAINT_FRIC	the constraint is one of three reactions in friction (cone complementarity problem)

eChUpdateFlags

enum chrono::eChUpdateFlags : unsigned int

strong

Flags to be passed to objects being updated during time stepping.

They are useful for optimizing the computations, and other reasons. In fact it happens that not all update functions require the same 'level of completeness' in recomputing the data in the objects, for example a ChTimestepper might require multiple StateScatter() calls before advancing to the next timestep (for instance in a RungeKutta integrator it takes 4 intermediate StateScatter() calls) but during the intermediate calls there is no need of updating, say, all 3D meshes in visual assets. This is the reason for these flags. They are used by ChIntegrable::StateScatter() by ChPhysicsItem::Update(), and in other parts of the code.

Enumerator
ALL	Update all data.
NEW_STEP	This is called when updating at the beginning of a time step.
NO_ASSETS	Avoid updating visual assets, if any.
NO_COLLISION_SHAPES	Avoid updating collision shapes, if any.

Function Documentation

ChSineStep()

ChApi double chrono::ChSineStep	(	double	x,
		double	x1,
		double	y1,
		double	x2,
		double	y2
	)

Smooth (sinusoidal) ramp between y1 and y2.

Note: must have x1 < x2 (no check).

create()

template<class T >

void chrono::create	(	std::string	cls_name,
		T **	ppObj
	)

Ugly hack added by hammad to get code to compile on osx.

Compiler had trouble finding the create function, adding include to ChClassRegister made other things break in ChLog so I couldn't do that....

ImmQ_complete()

ChApi ChQuaternion< double > chrono::ImmQ_complete

(

const ChVector< double > &

qimm

)

Given the imaginary (vectorial) {e1 e2 e3} part of a quaternion, find the entire quaternion q = {e0, e1, e2, e3}.

Note: singularities are possible.

ImmQ_dt_complete()

ChApi ChQuaternion< double > chrono::ImmQ_dt_complete	(	const ChQuaternion< double > &	mq,
		const ChVector< double > &	qimm_dt
	)

Given the imaginary (vectorial) {e1 e2 e3} part of a quaternion time derivative, find the entire quaternion q = {e0, e1, e2, e3}.

Note: singularities are possible.

ImmQ_dtdt_complete()

ChApi ChQuaternion< double > chrono::ImmQ_dtdt_complete	(	const ChQuaternion< double > &	mq,
		const ChQuaternion< double > &	mqdt,
		const ChVector< double > &	qimm_dtdt
	)

Given the imaginary (vectorial) {e1 e2 e3} part of a quaternion second time derivative, find the entire quaternion q = {e0, e1, e2, e3}.

Note: singularities are possible.

operator*() [1/15]

template<class Real >

ChFrame<Real> chrono::operator*	(	const ChCoordsys< Real > &	Fa,
		const ChFrame< Real > &	Fb
	)

The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChCoordsys frame_B is a ChFrame Returns a ChFrame.

The effect is like applying the transformation frame_A to frame_B and get frame_C. Performance warning: this operator promotes frame_A to a temporary ChFrame.

operator*() [2/15]

template<class Real >

ChFrameMoving<Real> chrono::operator*	(	const ChCoordsys< Real > &	Fa,
		const ChFrameMoving< Real > &	Fb
	)

The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChCoordsys frame_B is a ChFrameMoving Returns a ChFrameMoving.

The effect is like applying the transformation frame_A to frame_B and get frame_C. Also speeds and accelerations are transformed. Performance warning: this operator promotes frame_A to a temporary ChFrameMoving.

operator*() [3/15]

template<class Real >

ChQuaternion<Real> chrono::operator*	(	const ChCoordsys< Real > &	Fa,
		const ChQuaternion< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: quat_C = frame_A * quat_B; where frame_A is a ChCoordsys quat_B is a ChQuaternion Returns a ChQuaternion.

The effect is like applying the transformation frame_A to quat_B and get quat_C.

operator*() [4/15]

template<class Real >

ChVector<Real> chrono::operator*	(	const ChCoordsys< Real > &	Fa,
		const ChVector< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: vector_C = frame_A * vector_B; where frame_A is a ChCoordsys vector_B is a ChVector Returns a ChVector.

The effect is like applying the transformation frame_A to vector_B and get vector_C.

operator*() [5/15]

template<class Real >

ChCoordsys<Real> chrono::operator*	(	const ChFrame< Real > &	Fa,
		const ChCoordsys< Real > &	Fb
	)

The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChFrame frame_B is a ChCoordsys Returns a ChCoordsys.

The effect is like applying the transformation frame_A to frame_B and get frame_C.

operator*() [6/15]

template<class Real >

ChFrameMoving<Real> chrono::operator*	(	const ChFrame< Real > &	Fa,
		const ChFrameMoving< Real > &	Fb
	)

The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChFrame frame_B is a ChFrameMoving Returns a ChFrameMoving.

The effect is like applying the transformation frame_A to frame_B and get frame_C. Also speeds and accelerations are transformed. Performance warning: this operator promotes frame_A to a temporary ChFrameMoving.

operator*() [7/15]

template<class Real >

ChQuaternion<Real> chrono::operator*	(	const ChFrame< Real > &	Fa,
		const ChQuaternion< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: quat_C = frame_A * quat_B; where frame_A is a ChFrame quat_B is a ChQuaternion Returns a ChQuaternion.

The effect is like applying the transformation frame_A to quat_B and get quat_C.

operator*() [8/15]

template<class Real >

ChVector<Real> chrono::operator*	(	const ChFrame< Real > &	Fa,
		const ChVector< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: vector_C = frame_A * vector_B; where frame_A is a ChFrame vector_B is a ChVector Returns a ChVector.

The effect is like applying the transformation frame_A to vector_B and get vector_C.

operator*() [9/15]

template<class Real >

ChFrame<Real> chrono::operator*	(	const ChFrameMoving< Real > &	Fa,
		const ChFrame< Real > &	Fb
	)

The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChFrameMoving frame_B is a ChFrame Returns a ChFrame.

The effect is like applying the transformation frame_A to frame_B and get frame_C. Also speeds and accelerations are transformed.

operator*() [10/15]

template<class Real >

ChCoordsys<Real> chrono::operator*	(	const ChQuaternion< Real > &	Fa,
		const ChCoordsys< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: frame_C = quat_A * frame_B; where quat_A is a ChQuaternion frame_B is a ChCoordsys Returns a ChCoordsys.

The effect is like applying the rotation quat_A to frame_B and get frame_C.

operator*() [11/15]

template<class Real >

ChFrame<Real> chrono::operator*	(	const ChQuaternion< Real > &	Fa,
		const ChFrame< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: frame_C = quat_A * frame_B; where quat_A is a ChQuaternion frame_B is a ChFrame Returns a ChFrame.

The effect is like applying the rotation quat_A to frame_B and get frame_C.

operator*() [12/15]

template<class Real >

ChFrameMoving<Real> chrono::operator*	(	const ChQuaternion< Real > &	Fa,
		const ChFrameMoving< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: frame_C = quat_A * frame_B; where quat_A is a ChQuaternion frame_B is a ChFrameMoving Returns a ChFrameMoving.

The effect is like applying the rotation quat_A to frame_B and get frame_C. Also speeds and accelerations are rotated. Performance warning: this operator promotes quat_A to a temporary ChFrameMoving.

operator*() [13/15]

template<class Real >

ChCoordsys<Real> chrono::operator*	(	const ChVector< Real > &	Fa,
		const ChCoordsys< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: frame_C = vector_A * frame_B; where vector_A is a ChVector frame_B is a ChCoordsys Returns a ChCoordsys.

The effect is like applying the translation vector_A to frame_B and get frame_C.

operator*() [14/15]

template<class Real >

ChFrame<Real> chrono::operator*	(	const ChVector< Real > &	Fa,
		const ChFrame< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: frame_C = vector_A * frame_B; where vector_A is a ChVector frame_B is a ChFrame Returns a ChFrame.

The effect is like applying the translation vector_A to frame_B and get frame_C.

operator*() [15/15]

template<class Real >

ChFrameMoving<Real> chrono::operator*	(	const ChVector< Real > &	Fa,
		const ChFrameMoving< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: frame_C = vector_A * frame_B; where vector_A is a ChVector frame_B is a ChFrame Returns a ChFrameMoving.

The effect is like applying the translation vector_A to frame_B and get frame_C.

operator+() [1/2]

ChState chrono::operator+ ( const ChState &  y, const ChStateDelta &  Dy  )

inline

Custom operator "+" that takes care of incremental update of a state y by an increment Dy.

"y_new = y + Dy", invokes the specialized StateIncrement() in the ChIntegrable. If none is provided, this defaults to a simple vector sum

operator+() [2/2]

ChState chrono::operator+ ( const ChStateDelta &  Dy, const ChState &  y  )

inline

Custom operator "+" that takes care of incremental update of a state y by an increment Dy "y_new = Dy + y", invokes the specialized StateIncrement() in the ChIntegrable.

If none is provided, this defaults to a simple vector sum

operator<<()

template<class T >

ChStreamOutAscii& chrono::operator<<	(	ChStreamOutAscii &	mstream,
		const T &	obj
	)

This is used to stream out in 'readable' form on a ChStreamOutAscii stream whatever C++ object that implements the archive serialization, i.e.

objects that have ArchiveOUT implemented. For example: GetLog() << mymatrix;

operator>>() [1/14]

template<class Real >

ChCoordsys<Real> chrono::operator>>	(	const ChCoordsys< Real > &	Fa,
		const ChFrame< Real > &	Fb
	)

The '>>' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A >> frame_B; where frame_A is a ChCoordsys frame_B is a ChFrame Returns a ChCoordsys.

The effect is like applying the transformation frame_B to frame_A and get frame_C.

operator>>() [2/14]

template<class Real >

ChCoordsys<Real> chrono::operator>>	(	const ChCoordsys< Real > &	Fa,
		const ChQuaternion< Real > &	Fb
	)

The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> quat_B; where frame_A is a ChCoordsys frame_B is a ChQuaternion Returns a ChCoordsys.

The effect is like applying the rotation quat_B to frame_A and get frame_C.

operator>>() [3/14]

template<class Real >

ChCoordsys<Real> chrono::operator>>	(	const ChCoordsys< Real > &	Fa,
		const ChVector< Real > &	Fb
	)

The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> vector_B; where frame_A is a ChCoordsys vector_B is a ChVector Returns a ChCoordsys.

The effect is like applying the translation vector_B to frame_A and get frame_C.

operator>>() [4/14]

template<class Real >

ChFrame<Real> chrono::operator>>	(	const ChFrame< Real > &	Fa,
		const ChCoordsys< Real > &	Fb
	)

The '>>' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A >> frame_B; where frame_A is a ChFrame frame_B is a ChCoordsys Returns a ChFrame.

The effect is like applying the transformation frame_B to frame_A and get frame_C. Performance warning: this operator promotes frame_B to a temporary ChFrame.

operator>>() [5/14]

template<class Real >

ChFrame<Real> chrono::operator>>	(	const ChFrame< Real > &	Fa,
		const ChQuaternion< Real > &	Fb
	)

The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> quat_B; where frame_A is a ChFrame frame_B is a ChQuaternion Returns a ChFrame.

The effect is like applying the rotation quat_B to frame_A and get frame_C.

operator>>() [6/14]

template<class Real >

ChFrame<Real> chrono::operator>>	(	const ChFrame< Real > &	Fa,
		const ChVector< Real > &	Fb
	)

The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> vector_B; where frame_A is a ChFrame frame_B is a ChVector Returns a ChFrame.

The effect is like applying the translation vector_B to frame_A and get frame_C.

operator>>() [7/14]

template<class Real >

ChFrameMoving<Real> chrono::operator>>	(	const ChFrameMoving< Real > &	Fa,
		const ChCoordsys< Real > &	Fb
	)

The '>>' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A >> frame_B; where frame_A is a ChFrameMoving frame_B is a ChCoordsys Returns a ChFrameMoving.

The effect is like applying the transformation frame_B to frame_A and get frame_C. Also speeds and accelerations are transformed. Performance warning: this operator promotes frame_B to a temporary ChFrameMoving.

operator>>() [8/14]

template<class Real >

ChFrameMoving<Real> chrono::operator>>	(	const ChFrameMoving< Real > &	Fa,
		const ChFrame< Real > &	Fb
	)

The '>>' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A >> frame_B; where frame_A is a ChFrameMoving frame_B is a ChFrame Returns a ChFrameMoving.

The effect is like applying the transformation frame_B to frame_A and get frame_C. Also speeds and accelerations are transformed. Performance warning: this operator promotes frame_B to a temporary ChFrameMoving.

operator>>() [9/14]

template<class Real >

ChFrameMoving<Real> chrono::operator>>	(	const ChFrameMoving< Real > &	Fa,
		const ChQuaternion< Real > &	Fb
	)

The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> quat_B; where frame_A is a ChFrameMoving frame_B is a ChQuaternion Returns a ChFrameMoving.

The effect is like applying the rotation quat_B to frame_A and get frame_C. Also speeds and accelerations are rotated. Performance warning: this operator promotes quat_A to a temporary ChFrameMoving

operator>>() [10/14]

template<class Real >

ChFrameMoving<Real> chrono::operator>>	(	const ChFrameMoving< Real > &	Fa,
		const ChVector< Real > &	Fb
	)

The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> vector_B; where frame_A is a ChFrame frame_B is a ChVector Returns a ChFrameMoving.

The effect is like applying the translation vector_B to frame_A and get frame_C.

operator>>() [11/14]

template<class Real >

ChQuaternion<Real> chrono::operator>>	(	const ChQuaternion< Real > &	Fa,
		const ChCoordsys< Real > &	Fb
	)

The '>>' operator that transforms 'mixed' types: quat_C = quat_A >> frame_B; where quat_A is a ChQuaternion frame_B is a ChCoordsys Returns a ChQuaternion.

The effect is like applying the transformation frame_B to quat_A and get quat_C.

operator>>() [12/14]

template<class Real >

ChQuaternion<Real> chrono::operator>>	(	const ChQuaternion< Real > &	Fa,
		const ChFrame< Real > &	Fb
	)

The '>>' operator that transforms 'mixed' types: quat_C = quat_A >> frame_B; where quat_A is a ChQuaternion frame_B is a ChFrame Returns a ChQuaternion.

The effect is like applying the transformation frame_B to quat_A and get quat_C.

operator>>() [13/14]

template<class Real >

ChVector<Real> chrono::operator>>	(	const ChVector< Real > &	Fa,
		const ChCoordsys< Real > &	Fb
	)

The '>>' operator that transforms 'mixed' types: vector_C = vector_A >> frame_B; where vector_A is a ChVector frame_B is a ChCoordsys Returns a ChVector.

The effect is like applying the transformation frame_B to frame_A and get frame_C.

operator>>() [14/14]

template<class Real >

ChVector<Real> chrono::operator>>	(	const ChVector< Real > &	Fa,
		const ChFrame< Real > &	Fb
	)

The '>>' operator that transforms 'mixed' types: vector_C = vector_A >> frame_B; where vector_A is a ChVector frame_B is a ChFrame Returns a ChVector.

The effect is like applying the transformation frame_B to vector_A and get vector_C. For a sequence of transformations, i.e. a chain of coordinate systems, you can also write this (like you would do with a sequence of Denavitt-Hartemberg matrix multiplications, but in the opposite order...) new_v = old_v >> frame3to2 >> frame2to1 >> frame1to0; This operation is not commutative.

Q_from_AngAxis()

ChApi ChQuaternion< double > chrono::Q_from_AngAxis	(	double	angle,
		const ChVector< double > &	axis
	)

Get the quaternion from an angle of rotation and an axis, defined in abs coords.

The axis is supposed to be fixed, i.e. it is constant during rotation. The 'axis' vector must be normalized.

Q_from_Vect_to_Vect()

ChApi ChQuaternion< double > chrono::Q_from_Vect_to_Vect	(	const ChVector< double > &	fr_vect,
		const ChVector< double > &	to_vect
	)

Get the quaternion from a source vector and a destination vector which specifies the rotation from one to the other.

The vectors do not need to be normalized.

SetFirstIntID()

ChApi void chrono::SetFirstIntID

(

int

val

)

Set the start value for the sequence of IDs (ATTENTION: not thread safe) Subsequent calls to GetUniqueIntID() will return val+1, val+2, etc.

The default initial value is 100000.

SetLog()

ChApi void chrono::SetLog

(

ChLog &

new_logobject

)

Global function to set another ChLog object as current 'global' logging system.

For example, a plugin developer may like to see logs on a GUI dialog: if so, he can inherit a specialized ChLog class (overriding the Output() function) and use the SetLog() function to have it available all times. Doing so, in your code you can write, for example:

chrono::GetLog() << "message";

StreamSwapBytes()

template<class T >

void chrono::StreamSwapBytes ( T *  ptData )

inline

Templated function for swapping bytes of objects of type 'T', in general fo whatever T type.

This is used for cross-platform compatibility when sharing objects between big-endian and little-endian memory models, depending on the microprocessor type.