Description

Namespace with classes for the Granular module.

Classes
struct	BC_params_t
	big enum to handle all possible boundary conditions More...

struct	ChGranMeshFamilyFrame
	Position and rotation matrix defining the frame of a triangle mesh. More...

struct	ChGranParams
	Parameters needed for sphere-based granular dynamics. More...

struct	ChGranParams_trimesh
	Extra parameters needed for triangle-sphere contact. More...

struct	ChGranSphereData
	Holds pointers to kinematic quantities of the granular system. These pointers must be in device-accessible memory. More...

class	ChSystemGranularSMC
	Main Chrono::Granular system class used to control and dispatch the GPU sphere-only solver. More...

class	ChSystemGranularSMC_trimesh
	Class implements functionality required to handle the interaction between a mesh soup and granular material. More...

struct	ChTriangleSoup
	Class used to hold pointers for mesh arrays. More...

struct	Plane_BC_params_t
	Infinite Plane defined by point in plane and normal. More...

struct	Z_Cone_BC_params_t
	Z-aligned cone pointed downward. More...

struct	Z_Cylinder_BC_params_t
	Infinite Z-aligned cylinder. More...

Typedefs
typedef std::function< double3(float)>	GranPositionFunction
	Used to compute position as a function of time.

typedef struct chrono::granular::sim_param_holder	sim_param_holder

Enumerations
enum	GRAN_VERBOSITY { QUIET = 0, INFO = 1, METRICS = 2 }
	Verbosity level of the system.

enum	GRAN_OUTPUT_MODE { CSV, BINARY, HDF5, NONE }
	Output mode of system.

enum	GRAN_TIME_INTEGRATOR { FORWARD_EULER, CHUNG, CENTERED_DIFFERENCE, EXTENDED_TAYLOR }
	How are we integrating through time.

enum	GRAN_FRICTION_MODE { FRICTIONLESS, SINGLE_STEP, MULTI_STEP }
	Supported friction model.

enum	GRAN_ROLLING_MODE { NO_RESISTANCE, SCHWARTZ, ELASTIC_PLASTIC }
	Rolling resistance models – ELASTIC_PLASTIC not implemented yet.

enum	GRAN_OUTPUT_FLAGS { ABSV = 1, VEL_COMPONENTS = 2, FIXITY = 4, ANG_VEL_COMPONENTS = 8 }

enum	BC_type { SPHERE, CONE, PLANE, CYLINDER }

Functions
std::string	chrono_granular_data_path ("../data/granular/")

void	SetDataPath (const std::string &path)
	Set the path to the Chrono::Granular data directory (ATTENTION: not thread safe).

const std::string &	GetDataPath ()
	Get the current path to the Chrono::Granular data directory (thread safe).

std::string	GetDataFile (const std::string &filename)
	Get the complete path to the specified filename (thread safe). More...

void	ShowJSONUsage ()

void	InvalidArg (string arg)

bool	ParseJSON (const char *json_file, sim_param_holder &params, bool verbose=true)

template<typename Real >
std::vector< ChVector< Real > >	MeshSphericalDecomposition (std::string objfilename, ChVector< Real > scaling, ChVector< Real > offset, Real sphere_radius)
	Decompose a given triangle mesh surface into a minimally-overlapping collection of spheres. More...

Variables
const GranPositionFunction	GranPosFunction_default = [](float t) { return make_double3(0, 0, 0); }
	Position function representing no motion or offset as a funtion of time.

Function Documentation

template<typename Real >

std::vector<ChVector<Real> > chrono::granular::MeshSphericalDecomposition	(	std::string	objfilename,
		ChVector< Real >	scaling,
		ChVector< Real >	offset,
		Real	sphere_radius
	)

Decompose a given triangle mesh surface into a minimally-overlapping collection of spheres.

The mesh must be stored in OBJ format and must consist of only triangles. Returns the number of spheres added as a result of the decomposition.

Parameters

objfilename	OBJ mesh file path
scaling	Scaling vector to apply to the mesh before decomposition
offset	Displacement to apply to the mesh before decomposition
sphere_radius	Radius to use for all spheres in the decomposition