Description
Base class for items that can contain objects of ChVariables or ChConstraints, such as rigid bodies, mechanical joints, etc.
#include <ChPhysicsItem.h>
Public Member Functions | |
ChPhysicsItem (const ChPhysicsItem &other) | |
virtual ChPhysicsItem * | Clone () const override |
"Virtual" copy constructor (covariant return type). | |
ChSystem * | GetSystem () const |
Get the pointer to the parent ChSystem() | |
virtual void | SetSystem (ChSystem *m_system) |
Set the pointer to the parent ChSystem() and also add to new collision system / remove from old coll.system. | |
void | AddAsset (std::shared_ptr< ChAsset > masset) |
Add an optional asset (it can be used to define visualization shapes, es ChSphereShape, or textures, or custom attached properties that the user can define by creating his class inherited from ChAsset) | |
std::vector< std::shared_ptr< ChAsset > > & | GetAssets () |
Access to the list of optional assets. | |
std::shared_ptr< ChAsset > | GetAssetN (unsigned int num) |
Access the Nth asset in the list of optional assets. | |
virtual ChFrame | GetAssetsFrame (unsigned int nclone=0) |
Get the master coordinate system for assets that have some geometric meaning. More... | |
virtual unsigned int | GetAssetsFrameNclones () |
Optionally, a ChPhysicsItem can return multiple asset coordinate systems; this can be helpful if, for example, when a ChPhysicsItem contains 'clones' with the same assets (ex. More... | |
virtual bool | GetCollide () const |
Tell if the object is subject to collision. More... | |
virtual void | SyncCollisionModels () |
If this physical item contains one or more collision models, synchronize their coordinates and bounding boxes to the state of the item. | |
virtual void | AddCollisionModelsToSystem () |
If this physical item contains one or more collision models, add them to the system's collision engine. | |
virtual void | RemoveCollisionModelsFromSystem () |
If this physical item contains one or more collision models, remove them from the system's collision engine. | |
virtual void | GetTotalAABB (ChVector<> &bbmin, ChVector<> &bbmax) |
Get the entire AABB axis-aligned bounding box of the object. More... | |
virtual void | GetCenter (ChVector<> &mcenter) |
Get a symbolic 'center' of the object. More... | |
virtual void | StreamINstate (ChStreamInBinary &mstream) |
Method to deserialize only the state (position, speed) Must be implemented by child classes. | |
virtual void | StreamOUTstate (ChStreamOutBinary &mstream) |
Method to serialize only the state (position, speed) Must be implemented by child classes. | |
virtual void | Setup () |
This might recompute the number of coordinates, DOFs, constraints, in case this might change (ex in ChAssembly), as well as state offsets of contained items (ex in ChMesh) | |
virtual void | Update (double mytime, bool update_assets=true) |
This is an important function, which is called by the owner ChSystem at least once per integration step. More... | |
virtual void | Update (bool update_assets=true) |
As above, but does not require updating of time-dependent data. More... | |
virtual void | SetNoSpeedNoAcceleration () |
Set zero speed (and zero accelerations) in state, without changing the position. More... | |
virtual int | GetDOF () |
Get the number of scalar coordinates (variables), if any, in this item. More... | |
virtual int | GetDOF_w () |
Get the number of scalar coordinates of variables derivatives (usually = DOF, but might be different than DOF, ex. More... | |
virtual int | GetDOC () |
Get the number of scalar constraints, if any, in this item. | |
virtual int | GetDOC_c () |
Get the number of scalar constraints, if any, in this item (only bilateral constr.) Children classes might override this. | |
virtual int | GetDOC_d () |
Get the number of scalar constraints, if any, in this item (only unilateral constr.) Children classes might override this. | |
unsigned int | GetOffset_x () |
Get offset in the state vector (position part) | |
unsigned int | GetOffset_w () |
Get offset in the state vector (speed part) | |
unsigned int | GetOffset_L () |
Get offset in the lagrangian multipliers. | |
void | SetOffset_x (const unsigned int moff) |
Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this. | |
void | SetOffset_w (const unsigned int moff) |
Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this. | |
void | SetOffset_L (const unsigned int moff) |
Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this. | |
virtual void | IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) |
From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More... | |
virtual void | IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T, bool full_update) |
From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More... | |
virtual void | IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) |
From item's state acceleration to global acceleration vector. More... | |
virtual void | IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) |
From global acceleration vector to item's state acceleration. More... | |
virtual void | IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) |
From item's reaction forces to global reaction vector. More... | |
virtual void | IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) |
From global reaction vector to item's reaction forces. More... | |
virtual void | IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) |
Computes x_new = x + Dt , using vectors at specified offsets. More... | |
virtual void | IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) |
Takes the F force term, scale and adds to R at given offset: R += c*F. More... | |
virtual void | IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) |
Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w. More... | |
virtual void | IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) |
Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L. More... | |
virtual void | IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) |
Takes the term C, scale and adds to Qc at given offset: Qc += c*C. More... | |
virtual void | IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c) |
Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More... | |
virtual void | IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) |
Prepare variables and constraints to accommodate a solution: More... | |
virtual void | IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) |
After a solver solution, fetch values from variables and constraints into vectors: More... | |
virtual void | VariablesFbReset () |
Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero. | |
virtual void | VariablesFbLoadForces (double factor=1) |
Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor. | |
virtual void | VariablesQbLoadSpeed () |
Initialize the 'qb' part of the ChVariables with the current value of speeds. More... | |
virtual void | VariablesFbIncrementMq () |
Adds M*q (masses multiplied current 'qb') to Fb, ex. More... | |
virtual void | VariablesQbSetSpeed (double step=0) |
Fetches the item speed (ex. More... | |
virtual void | VariablesQbIncrementPosition (double step) |
Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More... | |
virtual void | InjectVariables (ChSystemDescriptor &mdescriptor) |
Tell to a system descriptor that there are variables of type ChVariables in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. | |
virtual void | InjectConstraints (ChSystemDescriptor &mdescriptor) |
Tell to a system descriptor that there are constraints of type ChConstraint in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. | |
virtual void | ConstraintsBiReset () |
Sets to zero the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false) |
Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsBiLoad_Ct (double factor=1) |
Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsBiLoad_Qc (double factor=1) |
Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsFbLoadForces (double factor=1) |
Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints. | |
virtual void | ConstraintsLoadJacobians () |
Adds the current jacobians in encapsulated ChConstraints. | |
virtual void | ConstraintsFetch_react (double factor=1) |
Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More... | |
virtual void | InjectKRMmatrices (ChSystemDescriptor &mdescriptor) |
Tell to a system descriptor that there are items of type ChKblock in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. | |
virtual void | KRMmatricesLoad (double Kfactor, double Rfactor, double Mfactor) |
Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any. More... | |
virtual void | ArchiveOUT (ChArchiveOut &marchive) override |
Method to allow serialization of transient data to archives. | |
virtual void | ArchiveIN (ChArchiveIn &marchive) override |
Method to allow deserialization of transient data from archives. More... | |
Public Member Functions inherited from chrono::ChObj | |
ChObj (const ChObj &other) | |
int | GetIdentifier () const |
Gets the numerical identifier of the object. | |
void | SetIdentifier (int id) |
Sets the numerical identifier of the object. | |
double | GetChTime () const |
Gets the simulation time of this object. | |
void | SetChTime (double m_time) |
Sets the simulation time of this object. | |
const char * | GetName () const |
Gets the name of the object as C Ascii null-terminated string -for reading only! | |
void | SetName (const char myname[]) |
Sets the name of this object, as ascii string. | |
std::string | GetNameString () const |
Gets the name of the object as C Ascii null-terminated string. | |
void | SetNameString (const std::string &myname) |
Sets the name of this object, as std::string. | |
void | MFlagsSetAllOFF (int &mflag) |
void | MFlagsSetAllON (int &mflag) |
void | MFlagSetON (int &mflag, int mask) |
void | MFlagSetOFF (int &mflag, int mask) |
int | MFlagGet (int &mflag, int mask) |
virtual std::string & | ArchiveContainerName () |
Protected Attributes | |
ChSystem * | system |
parent system | |
std::vector< std::shared_ptr< ChAsset > > | assets |
set of assets | |
unsigned int | offset_x |
offset in vector of state (position part) | |
unsigned int | offset_w |
offset in vector of state (speed part) | |
unsigned int | offset_L |
offset in vector of lagrangian multipliers | |
Protected Attributes inherited from chrono::ChObj | |
double | ChTime |
the time of simulation for the object | |
Friends | |
class | ChSystem |
class | ChAssembly |
Member Function Documentation
◆ ArchiveIN()
|
overridevirtual |
Method to allow deserialization of transient data from archives.
Method to allow de serialization of transient data from archives.
Reimplemented from chrono::ChObj.
Reimplemented in chrono::ChLinkMateOrthogonal, chrono::ChBody, chrono::ChLinkMateParallel, chrono::ChMatterSPH, chrono::ChLinkMateXdistance, chrono::ChParticlesClones, chrono::fea::ChMatterMeshless, chrono::fea::ChLinkPointFrameGeneric, chrono::fea::ChLinkPointTrifaceRot, chrono::ChLinkLockLock, chrono::ChLinkMateCoaxial, chrono::ChAssembly, chrono::ChShaft, chrono::ChLinkMatePlane, chrono::ChShaftsBodyTranslation, chrono::ChLinkMotorLinearDriveline, chrono::ChShaftsPlanetary, chrono::ChLinkMarkers, chrono::ChShaftsMotor, chrono::ChLinkMotorRotationDriveline, chrono::ChLinkMateGeneric, chrono::ChContactContainerNSC, chrono::fea::ChLinkPointTriface, chrono::fea::ChLinkBeamIGAslider, chrono::ChConveyor, chrono::ChLinkTSDA, chrono::ChShaftsMotorSpeed, chrono::fea::ChLinkPointFrame, chrono::ChShaftsGearboxAngled, chrono::ChLinkRevoluteTranslational, chrono::ChShaftsGearbox, chrono::ChLinkLock, chrono::ChLinkRevoluteSpherical, chrono::fea::ChLinkDirFrame, chrono::ChContactContainerSMC, chrono::ChLinkDistance, chrono::ChLinkPulley, chrono::ChShaftsClutch, chrono::ChLinkGear, chrono::ChLinkSpringCB, chrono::fea::ChLinkPointPoint, chrono::ChShaftsGear, chrono::ChLinkUniversal, chrono::ChShaftsBody, chrono::ChLinkRevolute, chrono::ChShaftsTorqueConverter, chrono::ChShaftsMotorAngle, chrono::ChProximityContainerMeshless, chrono::ChLinkMotorLinearSpeed, chrono::ChLinkMotorRotationSpeed, chrono::ChProximityContainerSPH, chrono::ChLinkRackpinion, chrono::ChLinkSpring, chrono::ChLink, chrono::ChLinkMotionImposed, chrono::ChShaftsCouple, chrono::ChLinkBase, chrono::ChLinkLinActuator, chrono::ChLinkClearance, chrono::ChBodyAuxRef, chrono::ChIndexedParticles, chrono::ChShaftsTorqueBase, chrono::ChLinkTrajectory, chrono::ChLinkMotorLinearPosition, chrono::ChLinkMotorRotationAngle, chrono::ChLinkMotorRotation, chrono::ChLoadContainer, chrono::ChShaftsMotorTorque, chrono::ChLinkRotSpringCB, chrono::ChShaftsThermalEngine, chrono::ChLinkMotorLinear, chrono::ChLinkMotorLinearForce, chrono::ChLinkMotorRotationTorque, chrono::ChLinkBrake, chrono::ChShaftsMotorBase, chrono::ChIndexedNodes, chrono::ChLinkBushing, chrono::ChShaftsTorsionSpring, chrono::ChLinkMotor, chrono::ChShaftsTorque, chrono::ChLinkPointSpline, chrono::ChLinkScrew, chrono::ChLinkMate, chrono::ChContactContainer, and chrono::ChProximityContainer.
◆ ConstraintsFetch_react()
|
inlinevirtual |
Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints.
Mostly used after the solver provided the solution in ChConstraints. Also, should convert the reactions obtained from dynamical simulation, from link space to intuitive react_force and react_torque.
Reimplemented in chrono::fea::ChLinkDirFrame, chrono::ChLinkLock, chrono::fea::ChLinkPointFrameGeneric, chrono::fea::ChLinkPointTrifaceRot, chrono::ChAssembly, chrono::ChShaftsBodyTranslation, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMateGeneric, chrono::ChLinkMotorRotationDriveline, chrono::ChContactContainerNSC, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChLinkRevoluteTranslational, chrono::ChShaftsMotor, chrono::ChLinkRevoluteSpherical, chrono::ChLinkDistance, chrono::ChLinkUniversal, chrono::ChLinkRevolute, chrono::ChShaftsMotorAngle, chrono::fea::ChLinkPointTriface, chrono::fea::ChLinkBeamIGAslider, chrono::fea::ChLinkPointFrame, chrono::ChShaftsPlanetary, chrono::ChShaftsGearboxAngled, chrono::fea::ChLinkPointPoint, chrono::ChShaftsGearbox, chrono::ChShaftsBody, chrono::ChShaftsGear, and chrono::ChShaftsClutch.
◆ GetAssetsFrame()
|
inlinevirtual |
Get the master coordinate system for assets that have some geometric meaning.
It could be used, for example, by a visualization system to show a 3d shape of this item. Children classes might override this (for example, for a ChBody, this will return the coordinate system of the rigid body). Optional parameter 'nclone' can be used for items that contain 'clones' (ex. lot of particles with the same visualization shape), so the corresponding coordinate frame can be returned.
Reimplemented in chrono::ChBody, chrono::ChLinkMarkers, chrono::ChLinkMateGeneric, chrono::ChIndexedParticles, and chrono::ChLinkBase.
◆ GetAssetsFrameNclones()
|
inlinevirtual |
Optionally, a ChPhysicsItem can return multiple asset coordinate systems; this can be helpful if, for example, when a ChPhysicsItem contains 'clones' with the same assets (ex.
lot of particle with the same visualization shape). If so, returns Nclones >0 , the number of clones including the original. Then use GetAssetsFrame(n), n=0...Nclones-1, to access the corresponding coord.frame.
Reimplemented in chrono::ChIndexedParticles.
◆ GetCenter()
|
virtual |
Get a symbolic 'center' of the object.
By default this function returns the center of the AABB. It could be overridden by child classes, anyway it must always get a point that must be inside AABB.
◆ GetCollide()
|
inlinevirtual |
Tell if the object is subject to collision.
Only for interface; child classes may override this, using internal flags.
Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChConveyor, chrono::fea::ChMesh, and chrono::ChBody.
◆ GetDOF()
|
inlinevirtual |
Get the number of scalar coordinates (variables), if any, in this item.
Children classes must override this.
Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChAssembly, chrono::ChBody, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChShaft, chrono::ChShaftsMotorSpeed, chrono::fea::ChMesh, chrono::ChConveyor, chrono::ChLinkMotorLinearSpeed, chrono::ChLinkMotorRotationSpeed, and chrono::ChIndexedParticles.
◆ GetDOF_w()
|
inlinevirtual |
Get the number of scalar coordinates of variables derivatives (usually = DOF, but might be different than DOF, ex.
DOF=4 for quaternions, but DOF_w = 3 for its Lie algebra, ex angular velocity) Children classes might override this.
Reimplemented in chrono::ChAssembly, chrono::ChBody, chrono::fea::ChMesh, chrono::ChConveyor, and chrono::ChIndexedParticles.
◆ GetTotalAABB()
Get the entire AABB axis-aligned bounding box of the object.
The AABB must enclose the collision models, if any. By default is infinite AABB. Should be overridden by child classes.
Reimplemented in chrono::ChBody.
◆ IntFromDescriptor()
|
inlinevirtual |
After a solver solution, fetch values from variables and constraints into vectors:
- Parameters
-
off_v offset for v v vector to where the q 'unknowns' term of the variables will be copied off_L offset for L L vector to where L 'lagrangian ' term of the constraints will be copied
Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChLinkLock, chrono::ChParticlesClones, chrono::fea::ChLinkPointFrameGeneric, chrono::fea::ChLinkPointTrifaceRot, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChShaftsBodyTranslation, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMateGeneric, chrono::ChLinkMotorRotationDriveline, chrono::ChContactContainerNSC, chrono::ChShaft, chrono::ChShaftsMotorSpeed, chrono::ChLinkRevoluteTranslational, chrono::ChConveyor, chrono::ChLinkRevoluteSpherical, chrono::ChShaftsMotor, chrono::ChLinkDistance, chrono::ChLinkUniversal, chrono::ChShaftsMotorAngle, chrono::ChLinkRevolute, chrono::fea::ChLinkPointTriface, chrono::fea::ChLinkBeamIGAslider, chrono::ChLinkMotorLinearSpeed, chrono::ChLinkMotorRotationSpeed, chrono::fea::ChLinkPointFrame, chrono::fea::ChLinkDirFrame, chrono::ChShaftsPlanetary, chrono::ChShaftsGearboxAngled, chrono::fea::ChLinkPointPoint, chrono::ChShaftsGearbox, chrono::ChShaftsBody, chrono::ChShaftsGear, and chrono::ChShaftsClutch.
◆ IntLoadConstraint_C()
|
inlinevirtual |
Takes the term C, scale and adds to Qc at given offset: Qc += c*C.
- Parameters
-
off offset in Qc residual Qc result: the Qc residual, Qc += c*C c a scaling factor do_clamp apply clamping to c*C? recovery_clamp value for min/max clamping of c*C
Reimplemented in chrono::ChLinkLock, chrono::fea::ChLinkPointFrameGeneric, chrono::fea::ChLinkPointTrifaceRot, chrono::ChAssembly, chrono::ChShaftsBodyTranslation, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMateGeneric, chrono::ChLinkMotorRotationDriveline, chrono::ChContactContainerNSC, chrono::ChShaftsMotorSpeed, chrono::ChLinkRevoluteTranslational, chrono::ChConveyor, chrono::ChLinkRevoluteSpherical, chrono::ChShaftsMotor, chrono::ChLinkDistance, chrono::ChShaftsMotorAngle, chrono::ChLinkUniversal, chrono::ChLinkRevolute, chrono::fea::ChLinkPointTriface, chrono::fea::ChLinkBeamIGAslider, chrono::fea::ChLinkPointFrame, chrono::fea::ChLinkDirFrame, chrono::ChShaftsPlanetary, chrono::ChShaftsGearboxAngled, chrono::fea::ChLinkPointPoint, chrono::ChShaftsGearbox, chrono::ChShaftsBody, chrono::ChShaftsGear, and chrono::ChShaftsClutch.
◆ IntLoadConstraint_Ct()
|
inlinevirtual |
Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct.
- Parameters
-
off offset in Qc residual Qc result: the Qc residual, Qc += c*Ct c a scaling factor
Reimplemented in chrono::ChLinkLock, chrono::ChAssembly, chrono::ChShaftsBodyTranslation, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMateGeneric, chrono::ChLinkMotorRotationDriveline, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChShaftsMotor, chrono::ChShaftsMotorAngle, chrono::ChLinkMotorLinearSpeed, chrono::ChLinkMotorRotationSpeed, chrono::ChLinkMotionImposed, chrono::ChShaftsBody, chrono::ChLinkMotorLinearPosition, chrono::ChLinkMotorRotationAngle, and chrono::ChShaftsClutch.
◆ IntLoadResidual_CqL()
|
inlinevirtual |
Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L.
- Parameters
-
off_L offset in L multipliers R result: the R residual, R += c*Cq'*L L the L vector c a scaling factor
Reimplemented in chrono::ChLinkLock, chrono::fea::ChLinkPointFrameGeneric, chrono::fea::ChLinkPointTrifaceRot, chrono::ChAssembly, chrono::ChShaftsBodyTranslation, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMateGeneric, chrono::ChLinkMotorRotationDriveline, chrono::ChContactContainerNSC, chrono::ChShaftsMotorSpeed, chrono::ChLinkRevoluteTranslational, chrono::ChConveyor, chrono::ChLinkRevoluteSpherical, chrono::ChShaftsMotor, chrono::ChLinkDistance, chrono::ChShaftsMotorAngle, chrono::ChLinkUniversal, chrono::ChLinkRevolute, chrono::fea::ChLinkPointTriface, chrono::fea::ChLinkBeamIGAslider, chrono::fea::ChLinkPointFrame, chrono::fea::ChLinkDirFrame, chrono::ChShaftsPlanetary, chrono::ChShaftsGearboxAngled, chrono::fea::ChLinkPointPoint, chrono::ChShaftsGearbox, chrono::ChShaftsBody, chrono::ChShaftsGear, and chrono::ChShaftsClutch.
◆ IntLoadResidual_F()
|
inlinevirtual |
Takes the F force term, scale and adds to R at given offset: R += c*F.
- Parameters
-
off offset in R residual R result: the R residual, R += c*F c a scaling factor
Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMarkers, chrono::ChLinkMotorRotationDriveline, chrono::ChShaft, chrono::ChContactContainerSMC, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChShaftsMotor, chrono::ChLinkMotorLinearSpeed, chrono::ChLinkMotorRotationSpeed, chrono::ChShaftsMotorTorque, chrono::ChShaftsTorqueConverter, chrono::ChShaftsClutch, chrono::ChLinkMotorLinearForce, chrono::ChLinkMotorRotationTorque, chrono::ChLoadContainer, and chrono::ChShaftsTorqueBase.
◆ IntLoadResidual_Mv()
|
inlinevirtual |
Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w.
- Parameters
-
off offset in R residual R result: the R residual, R += c*M*v w the w vector c a scaling factor
Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChShaft, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.
◆ IntStateGather()
|
inlinevirtual |
From item's state to global state vectors y={x,v} pasting the states at the specified offsets.
- Parameters
-
off_x offset in x state vector x state vector, position part off_v offset in v state vector v state vector, speed part T time
Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChShaft, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.
◆ IntStateGatherAcceleration()
|
inlinevirtual |
From item's state acceleration to global acceleration vector.
- Parameters
-
off_a offset in a accel. vector a acceleration part of state vector derivative
Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChShaft, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.
◆ IntStateGatherReactions()
|
inlinevirtual |
From item's reaction forces to global reaction vector.
- Parameters
-
off_L offset in L vector L L vector of reaction forces
Reimplemented in chrono::ChLinkLock, chrono::fea::ChLinkPointFrameGeneric, chrono::fea::ChLinkPointTrifaceRot, chrono::ChAssembly, chrono::ChShaftsBodyTranslation, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMateGeneric, chrono::ChContactContainerNSC, chrono::ChLinkMotorRotationDriveline, chrono::ChShaftsMotorSpeed, chrono::ChLinkRevoluteTranslational, chrono::ChLinkRevoluteSpherical, chrono::ChShaftsMotor, chrono::ChConveyor, chrono::ChLinkDistance, chrono::ChShaftsMotorAngle, chrono::ChLinkUniversal, chrono::ChLinkRevolute, chrono::fea::ChLinkPointTriface, chrono::fea::ChLinkBeamIGAslider, chrono::fea::ChLinkPointFrame, chrono::fea::ChLinkDirFrame, chrono::ChShaftsPlanetary, chrono::ChShaftsGearboxAngled, chrono::fea::ChLinkPointPoint, chrono::ChShaftsGearbox, chrono::ChShaftsBody, chrono::ChShaftsGear, and chrono::ChShaftsClutch.
◆ IntStateIncrement()
|
inlinevirtual |
Computes x_new = x + Dt , using vectors at specified offsets.
By default, when DOF = DOF_w, it does just the sum, but in some cases (ex when using quaternions for rotations) it could do more complex stuff, and children classes might overload it.
- Parameters
-
off_x offset in x state vector x_new state vector, position part, incremented result x state vector, initial position part off_v offset in v state vector Dv state vector, increment
Reimplemented in chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, and chrono::ChConveyor.
◆ IntStateScatter()
|
inlinevirtual |
From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets.
- Parameters
-
off_x offset in x state vector x state vector, position part off_v offset in v state vector v state vector, speed part T time full_update perform complete update
Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChShaft, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.
◆ IntStateScatterAcceleration()
|
inlinevirtual |
From global acceleration vector to item's state acceleration.
- Parameters
-
off_a offset in a accel. vector a acceleration part of state vector derivative
Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChShaft, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.
◆ IntStateScatterReactions()
|
inlinevirtual |
From global reaction vector to item's reaction forces.
- Parameters
-
off_L offset in L vector L L vector of reaction forces
Reimplemented in chrono::ChLinkLock, chrono::fea::ChLinkPointFrameGeneric, chrono::fea::ChLinkPointTrifaceRot, chrono::ChAssembly, chrono::ChShaftsBodyTranslation, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMateGeneric, chrono::ChContactContainerNSC, chrono::ChLinkMotorRotationDriveline, chrono::ChShaftsMotorSpeed, chrono::ChLinkRevoluteTranslational, chrono::ChLinkRevoluteSpherical, chrono::ChShaftsMotor, chrono::ChConveyor, chrono::ChLinkDistance, chrono::ChShaftsMotorAngle, chrono::ChLinkUniversal, chrono::ChLinkRevolute, chrono::fea::ChLinkPointTriface, chrono::fea::ChLinkBeamIGAslider, chrono::fea::ChLinkPointFrame, chrono::fea::ChLinkDirFrame, chrono::ChShaftsPlanetary, chrono::ChShaftsGearboxAngled, chrono::fea::ChLinkPointPoint, chrono::ChShaftsGearbox, chrono::ChShaftsBody, chrono::ChShaftsGear, and chrono::ChShaftsClutch.
◆ IntToDescriptor()
|
inlinevirtual |
Prepare variables and constraints to accommodate a solution:
- Parameters
-
off_v offset for v and R v vector that will be copied into the q 'unknowns' term of the variables (for warm starting) R vector that will be copied into the F 'force' term of the variables off_L offset for L and Qc L vector that will be copied into the L 'lagrangian ' term of the constraints (for warm starting) Qc vector that will be copied into the Qb 'constraint' term of the constraints
Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChLinkLock, chrono::ChParticlesClones, chrono::fea::ChLinkPointFrameGeneric, chrono::fea::ChLinkPointTrifaceRot, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChShaftsBodyTranslation, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMateGeneric, chrono::ChLinkMotorRotationDriveline, chrono::ChContactContainerNSC, chrono::ChShaft, chrono::ChShaftsMotorSpeed, chrono::ChLinkRevoluteTranslational, chrono::ChConveyor, chrono::ChLinkRevoluteSpherical, chrono::ChShaftsMotor, chrono::ChLinkDistance, chrono::ChShaftsMotorAngle, chrono::ChLinkUniversal, chrono::ChLinkRevolute, chrono::fea::ChLinkPointTriface, chrono::fea::ChLinkBeamIGAslider, chrono::ChLinkMotorLinearSpeed, chrono::ChLinkMotorRotationSpeed, chrono::fea::ChLinkPointFrame, chrono::fea::ChLinkDirFrame, chrono::ChShaftsPlanetary, chrono::ChShaftsGearboxAngled, chrono::fea::ChLinkPointPoint, chrono::ChShaftsGearbox, chrono::ChShaftsBody, chrono::ChShaftsGear, and chrono::ChShaftsClutch.
◆ KRMmatricesLoad()
|
inlinevirtual |
Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any.
The K, R, M matrices are added with scaling values Kfactor, Rfactor, Mfactor. NOTE: signs are flipped respect to the ChTimestepper dF/dx terms: K = -dF/dq, R = -dF/dv
Reimplemented in chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChContactContainerSMC, and chrono::ChLoadContainer.
◆ SetNoSpeedNoAcceleration()
|
inlinevirtual |
Set zero speed (and zero accelerations) in state, without changing the position.
Child classes should implement this function if GetDOF() > 0. It is used by owner ChSystem for some static analysis.
Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChShaft, chrono::ChAssembly, chrono::ChBody, and chrono::fea::ChMesh.
◆ Update() [1/2]
|
inlinevirtual |
As above, but does not require updating of time-dependent data.
By default, calls Update(mytime) using item's current time.
Reimplemented in chrono::ChBody, chrono::ChMatterSPH, chrono::ChParticlesClones, chrono::fea::ChMatterMeshless, chrono::ChAssembly, chrono::ChLink, and chrono::ChBodyAuxRef.
◆ Update() [2/2]
|
virtual |
This is an important function, which is called by the owner ChSystem at least once per integration step.
It may update all auxiliary data of the item, such as matrices if any, etc., depending on the current coordinates. The inherited classes, for example the ChLinkMask, often implement specialized versions of this Update(time) function, because they might need to update inner states, forces, springs, etc. This base version, by default, simply updates the item's time, and update the asset tree, if any.
Reimplemented in chrono::ChLinkRevoluteTranslational, chrono::ChLinkRevoluteSpherical, chrono::ChLinkUniversal, chrono::ChLinkRevolute, chrono::ChBody, chrono::ChMatterSPH, chrono::ChParticlesClones, chrono::fea::ChLinkPointFrameGeneric, chrono::fea::ChMatterMeshless, chrono::fea::ChLinkPointTrifaceRot, chrono::ChShaft, chrono::ChShaftsBodyTranslation, chrono::ChShaftsPlanetary, chrono::ChShaftsMotor, chrono::ChAssembly, chrono::fea::ChLinkPointTriface, chrono::fea::ChLinkBeamIGAslider, chrono::ChConveyor, chrono::fea::ChLinkPointFrame, chrono::ChShaftsGearboxAngled, chrono::ChLinkLock, chrono::ChShaftsGearbox, chrono::fea::ChLinkDirFrame, chrono::ChLinkMarkers, chrono::ChLinkMotorLinearDriveline, chrono::ChShaftsClutch, chrono::fea::ChLinkPointPoint, chrono::ChShaftsGear, chrono::ChLinkMotorRotationDriveline, chrono::ChShaftsBody, chrono::ChShaftsTorqueConverter, chrono::ChShaftsMotorSpeed, chrono::ChShaftsMotorAngle, chrono::ChLink, chrono::ChShaftsTorqueBase, chrono::ChLinkMotorLinearSpeed, chrono::ChLinkMotorRotationSpeed, chrono::ChShaftsMotorTorque, chrono::ChLoadContainer, chrono::ChLinkMotionImposed, chrono::ChLinkMotorRotation, chrono::ChLinkMotorLinearPosition, chrono::ChLinkMotorRotationAngle, chrono::ChLinkMotorLinear, chrono::ChLinkMotor, chrono::ChLinkMotorLinearForce, chrono::ChLinkMotorRotationTorque, chrono::ChLinkMateOrthogonal, chrono::ChLinkMateXdistance, chrono::ChLinkMatePlane, chrono::ChContactContainerNSC, chrono::ChLinkMateGeneric, chrono::ChContactContainerSMC, chrono::ChLinkDistance, and chrono::fea::ChMesh.
◆ VariablesFbIncrementMq()
|
inlinevirtual |
Adds M*q (masses multiplied current 'qb') to Fb, ex.
if qb is initialized with v_old using VariablesQbLoadSpeed, this method can be used in timestepping schemes that do: M*v_new = M*v_old + forces*dt
Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChShaft, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.
◆ VariablesQbIncrementPosition()
|
inlinevirtual |
Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor.
pos+=qb*step If qb is a speed, this behaves like a single step of 1-st order numerical integration (Eulero integration).
Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChShaft, and chrono::ChConveyor.
◆ VariablesQbLoadSpeed()
|
inlinevirtual |
Initialize the 'qb' part of the ChVariables with the current value of speeds.
Note: since 'qb' is the unknown, this function seems unnecessary, unless used before VariablesFbIncrementMq()
Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChShaft, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.
◆ VariablesQbSetSpeed()
|
inlinevirtual |
Fetches the item speed (ex.
linear and angular vel.in rigid bodies) from the 'qb' part of the ChVariables and sets it as the current item speed. If 'step' is not 0, also should compute the approximate acceleration of the item using backward differences, that is accel=(new_speed-old_speed)/step. Mostly used after the solver provided the solution in ChVariables.
Reimplemented in chrono::ChMatterSPH, chrono::fea::ChMatterMeshless, chrono::ChParticlesClones, chrono::ChAssembly, chrono::fea::ChMesh, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChShaft, chrono::ChShaftsMotorSpeed, chrono::ChConveyor, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/physics/ChPhysicsItem.h
- /builds/uwsbel/chrono/src/chrono/physics/ChPhysicsItem.cpp