Description

Interface to a Chrono::Gpu mesh system.

#include <ChSystemGpu.h>

Inheritance diagram for chrono::gpu::ChSystemGpuMesh:

Collaboration diagram for chrono::gpu::ChSystemGpuMesh:

Public Member Functions
	ChSystemGpuMesh (float sphere_rad, float density, float3 boxDims)
	Construct system with given sphere radius, density, and big domain dimensions.

void	LoadMeshes (std::vector< std::string > objfilenames, std::vector< ChMatrix33< float >> rotscale, std::vector< float3 > translations, std::vector< float > masses)
	Load (from Wavefront OBJ files) triangle meshes into granular system. More...

void	SetMeshes (const std::vector< geometry::ChTriangleMeshConnected > &all_meshes, std::vector< float > masses)
	Set triangle meshes into granular system. More...

void	EnableMeshCollision (bool val)
	Enable/disable mesh collision (for all defined meshes).

void	ApplyMeshMotion (unsigned int mesh, const ChVector<> &pos, const ChQuaternion<> &rot, const ChVector<> &lin_vel, const ChVector<> &ang_vel)
	Apply rigid body motion to specified mesh.

unsigned int	GetNumMeshes () const
	Return the number of meshes in the system.

void	SetStaticFrictionCoeff_SPH2MESH (float mu)
	Set sphere-to-mesh static friction coefficient.

void	SetRollingCoeff_SPH2MESH (float mu)
	Set sphere-to-mesh rolling friction coefficient.

void	SetSpinningCoeff_SPH2MESH (float mu)
	Set sphere-to-mesh spinning friction coefficient.

void	SetKn_SPH2MESH (double someValue)
	Set sphere-to-mesh normal contact stiffness.

void	SetGn_SPH2MESH (double someValue)
	Set sphere-to-mesh normal damping coefficient.

void	SetKt_SPH2MESH (double someValue)
	Set sphere-to-mesh tangential contact stiffness.

void	SetGt_SPH2MESH (double someValue)
	Set sphere-to-mesh tangential damping coefficient.

void	SetAdhesionRatio_SPH2MESH (float someValue)
	Set the ratio of adhesion force to sphere weight for sphere to mesh.

void	SetMeshVerbosity (CHGPU_MESH_VERBOSITY level)
	Set verbosity level of mesh operations.

virtual void	Initialize () override
	Initialize simulation so that it can be advanced. More...

void	InitializeMeshes ()
	Initialize only the trimeshes (assumes the granular material was already initialized). More...

virtual double	AdvanceSimulation (float duration) override
	Advance simulation by duration in user units, return actual duration elapsed. More...

void	CollectMeshContactForces (std::vector< ChVector<>> &forces, std::vector< ChVector<>> &torques)
	Collect contact forces exerted on all meshes by the granular system.

void	CollectMeshContactForces (int mesh, ChVector<> &force, ChVector<> &torque)
	Collect contact forces exerted on the specified meshe by the granular system.

void	WriteMeshes (std::string outfilename) const
	Write visualization files for triangle meshes with current positions.

Public Member Functions inherited from chrono::gpu::ChSystemGpu
	ChSystemGpu (float sphere_rad, float density, float3 boxDims)
	Construct system with given sphere radius, density, and big domain dimensions.

void	SetGravitationalAcceleration (const ChVector< float > g)
	Setr gravitational acceleration vector.

void	SetParticlePositions (const std::vector< ChVector< float >> &points, const std::vector< ChVector< float >> &vels=std::vector< ChVector< float >>(), const std::vector< ChVector< float >> &ang_vels=std::vector< ChVector< float >>())
	Set particle positions.

void	SetBDFixed (bool fixed)
	Set the big domain to be fixed or not. More...

void	SetParticleFixed (const std::vector< bool > &fixed)
	Set flags indicating whether or not a particle is fixed. More...

void	SetOutputMode (CHGPU_OUTPUT_MODE mode)
	Set the output mode of the simulation.

void	SetOutputFlags (unsigned char flags)
	Set output settings bit flags by bitwise ORing settings in CHGPU_OUTPUT_FLAGS.

void	SetFixedStepSize (float size_UU)
	Set timestep size.

void	DisableMinLength ()
	Ensure that the deformation-based length unit is used.

void	SetTimeIntegrator (CHGPU_TIME_INTEGRATOR new_integrator)
	Set the time integration scheme for the system.

void	SetFrictionMode (CHGPU_FRICTION_MODE new_mode)
	Set friction formulation. More...

void	SetRollingMode (CHGPU_ROLLING_MODE new_mode)
	Set rolling resistence formulation. More...

void	SetStaticFrictionCoeff_SPH2SPH (float mu)
	Set sphere-to-sphere static friction coefficient.

void	SetStaticFrictionCoeff_SPH2WALL (float mu)
	Set sphere-to-wall static friction coefficient.

void	SetRollingCoeff_SPH2SPH (float mu)
	Set sphere-to-sphere rolling friction coefficient – units and use vary by rolling friction mode.

void	SetRollingCoeff_SPH2WALL (float mu)
	Set sphere-to-wall rolling friction coefficient – units and use vary by rolling friction mode.

void	SetSpinningCoeff_SPH2SPH (float mu)
	Set sphere-to-sphere spinning friction coefficient – units and use vary by spinning friction mode.

void	SetSpinningCoeff_SPH2WALL (float mu)
	Set sphere-to-wall spinning friction coefficient – units and use vary by spinning friction mode.

void	SetKn_SPH2SPH (double someValue)
	Set sphere-to-sphere normal contact stiffness.

void	SetKn_SPH2WALL (double someValue)
	Set sphere-to-wall normal contact stiffness.

void	SetGn_SPH2SPH (double someValue)
	Set sphere-to-sphere normal damping coefficient.

void	SetGn_SPH2WALL (double someValue)
	Set sphere-to-wall normal damping coefficient.

void	SetKt_SPH2SPH (double someValue)
	Set sphere-to-sphere tangential contact stiffness.

void	SetGt_SPH2SPH (double someValue)
	Set sphere-to-sphere tangential damping coefficient.

void	SetKt_SPH2WALL (double someValue)
	Set sphere-to-wall tangential contact stiffness.

void	SetGt_SPH2WALL (double someValue)
	Set sphere-to-wall tangential damping coefficient.

void	SetCohesionRatio (float someValue)
	Set the ratio of cohesion to gravity for monodisperse spheres. Assumes a constant cohesion model.

void	SetAdhesionRatio_SPH2WALL (float someValue)
	Set the ratio of adhesion to gravity for sphere to wall. Assumes a constant cohesion model.

void	SetMaxSafeVelocity_SU (float max_vel)
	Safety check velocity to ensure the simulation is still stable.

void	SetPsiFactors (unsigned int psi_T, unsigned int psi_L, float psi_R=1.f)
	Set tuning psi factors for tuning the non-dimensionalization.

void	SetRecordingContactInfo (bool record)
	Enable/disable recording of contact info.

void	SetVerbosity (CHGPU_VERBOSITY level)
	Set simualtion verbosity level.

size_t	CreateBCSphere (const ChVector< float > &center, float radius, bool outward_normal, bool track_forces)
	Create an axis-aligned sphere boundary condition.

size_t	CreateBCConeZ (const ChVector< float > &tip, float slope, float hmax, float hmin, bool outward_normal, bool track_forces)
	Create a Z-axis aligned cone boundary condition.

size_t	CreateBCPlane (const ChVector< float > &pos, const ChVector< float > &normal, bool track_forces)
	Create a plane boundary condition.

size_t	CreateBCCylinderZ (const ChVector< float > &center, float radius, bool outward_normal, bool track_forces)
	Create a Z-axis aligned cylinder boundary condition.

bool	DisableBCbyID (size_t BC_id)
	Disable a boundary condition by its ID, returns false if the BC does not exist.

bool	EnableBCbyID (size_t BC_id)
	Enable a boundary condition by its ID, returns false if the BC does not exist.

bool	SetBCOffsetFunction (size_t BC_id, const GranPositionFunction &offset_function)
	Enable a boundary condition by its ID, returns false if the BC does not exist.

void	setBDWallsMotionFunction (const GranPositionFunction &pos_fn)
	Prescribe the motion of the big domain, allows wavetank-style simulations.

float	GetSimTime () const
	Return current simulation time.

size_t	GetNumParticles () const
	Return the total number of particles in the system.

float	GetParticleRadius () const
	Return the radius of a spherical particle.

double	GetMaxParticleZ () const
	Return the maximum Z position over all particles.

ChVector< float >	GetParticlePosition (int nSphere) const
	Return particle position.

ChVector< float >	GetParticleAngVelocity (int nSphere) const
	Return particle angular velocity.

ChVector< float >	GetParticleVelocity (int nSphere) const
	Return particle linear velocity.

ChVector< float >	GetBCPlanePosition (size_t plane_id) const
	Return position of BC plane.

bool	GetBCReactionForces (size_t BC_id, ChVector< float > &force) const
	Get the reaction forces on a boundary by ID, returns false if the forces are invalid (bad BC ID)

int	GetNumContacts () const
	Return number of particle-particle contacts.

unsigned int	GetNumSDs () const
	Return number of subdomains in the big domain.

void	WriteFile (std::string ofile) const
	Write particle positions according to the system output mode.

void	WriteContactInfoFile (std::string ofile) const
	Write contact info file.

size_t	EstimateMemUsage () const
	Roughly estimate of the total amount of memory used by the system.

Additional Inherited Members
Protected Member Functions inherited from chrono::gpu::ChSystemGpu
	ChSystemGpu ()
	Protected default constructor. Derived class must create m_sys.

Protected Attributes inherited from chrono::gpu::ChSystemGpu
ChSystemGpu_impl *	m_sys
	underlying system implementation

Member Function Documentation

◆ AdvanceSimulation()

double chrono::gpu::ChSystemGpuMesh::AdvanceSimulation ( float duration )

overridevirtual

Advance simulation by duration in user units, return actual duration elapsed.

Requires Initialize() to have been called.

Reimplemented from chrono::gpu::ChSystemGpu.

◆ Initialize()

void chrono::gpu::ChSystemGpuMesh::Initialize ( )

overridevirtual

Initialize simulation so that it can be advanced.

Must be called before AdvanceSimulation and after simulation parameters are set. This function initializes both the granular material and any existing trimeshes.

Reimplemented from chrono::gpu::ChSystemGpu.

◆ InitializeMeshes()

void chrono::gpu::ChSystemGpuMesh::InitializeMeshes ( )

Initialize only the trimeshes (assumes the granular material was already initialized).

Must be called before AdvanceSimulation and after simulation parameters are set.

◆ LoadMeshes()

void chrono::gpu::ChSystemGpuMesh::LoadMeshes	(	std::vector< std::string >	objfilenames,
		std::vector< ChMatrix33< float >>	rotscale,
		std::vector< float3 >	translations,
		std::vector< float >	masses
	)

Load (from Wavefront OBJ files) triangle meshes into granular system.

MUST happen before initialize is called.

◆ SetMeshes()

void chrono::gpu::ChSystemGpuMesh::SetMeshes	(	const std::vector< geometry::ChTriangleMeshConnected > &	all_meshes,
		std::vector< float >	masses
	)

Set triangle meshes into granular system.