Description

Class representing a container of many smooth (penalty) contacts.

Implemented using linked lists of ChContactSMC objects (that is, contacts between two ChContactable objects).

#include <ChContactContainerSMC.h>

Inheritance diagram for chrono::ChContactContainerSMC:

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Collaboration diagram for chrono::ChContactContainerSMC:

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Public Types
typedef ChContactSMC< ChContactable_1vars< 3 >, ChContactable_1vars< 3 > >	ChContactSMC_3_3

typedef ChContactSMC< ChContactable_1vars< 6 >, ChContactable_1vars< 3 > >	ChContactSMC_6_3

typedef ChContactSMC< ChContactable_1vars< 6 >, ChContactable_1vars< 6 > >	ChContactSMC_6_6

typedef ChContactSMC< ChContactable_3vars< 3, 3, 3 >, ChContactable_1vars< 3 > >	ChContactSMC_333_3

typedef ChContactSMC< ChContactable_3vars< 3, 3, 3 >, ChContactable_1vars< 6 > >	ChContactSMC_333_6

typedef ChContactSMC< ChContactable_3vars< 3, 3, 3 >, ChContactable_3vars< 3, 3, 3 > >	ChContactSMC_333_333

typedef ChContactSMC< ChContactable_3vars< 6, 6, 6 >, ChContactable_1vars< 3 > >	ChContactSMC_666_3

typedef ChContactSMC< ChContactable_3vars< 6, 6, 6 >, ChContactable_1vars< 6 > >	ChContactSMC_666_6

typedef ChContactSMC< ChContactable_3vars< 6, 6, 6 >, ChContactable_3vars< 3, 3, 3 > >	ChContactSMC_666_333

typedef ChContactSMC< ChContactable_3vars< 6, 6, 6 >, ChContactable_3vars< 6, 6, 6 > >	ChContactSMC_666_666

Public Member Functions
	ChContactContainerSMC (const ChContactContainerSMC &other)

virtual ChContactContainerSMC *	Clone () const override
	"Virtual" copy constructor (covariant return type).

virtual int	GetNcontacts () const override
	Report the number of added contacts.

virtual void	RemoveAllContacts () override
	Remove (delete) all contained contact data.

virtual void	BeginAddContact () override
	The collision system will call BeginAddContact() before adding all contacts (for example with AddContact() or similar). More...

virtual void	AddContact (const collision::ChCollisionInfo &cinfo, std::shared_ptr< ChMaterialSurface > mat1, std::shared_ptr< ChMaterialSurface > mat2) override
	Add a contact between two collision shapes, storing it into this container. More...

virtual void	AddContact (const collision::ChCollisionInfo &cinfo) override
	Add a contact between two collision shapes, storing it into this container. More...

virtual void	EndAddContact () override
	The collision system will call BeginAddContact() after adding all contacts (for example with AddContact() or similar). More...

virtual void	ReportAllContacts (std::shared_ptr< ReportContactCallback > callback) override
	Scan all the contacts and for each contact executes the OnReportContact() function of the provided callback object.

virtual void	Update (double mtime, bool update_assets=true) override
	Update state of this contact container: compute jacobians, violations, etc. More...

virtual void	ComputeContactForces () override
	Compute contact forces on all contactable objects in this container. More...

virtual ChVector	GetContactableForce (ChContactable *contactable) override
	Return the resultant contact force acting on the specified contactable object.

virtual ChVector	GetContactableTorque (ChContactable *contactable) override
	Return the resultant contact torque acting on the specified contactable object.

virtual void	IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override
	Takes the F force term, scale and adds to R at given offset: R += c*F. More...

virtual void	KRMmatricesLoad (double Kfactor, double Rfactor, double Mfactor) override
	Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any. More...

virtual void	InjectKRMmatrices (ChSystemDescriptor &mdescriptor) override
	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	ConstraintsFbLoadForces (double factor) override
	Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints.

virtual void	ArchiveOUT (ChArchiveOut &marchive) override
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIN (ChArchiveIn &marchive) override
	Method to allow de-serialization of transient data from archives. More...

Public Member Functions inherited from chrono::ChContactContainer
	ChContactContainer (const ChContactContainer &other)

virtual void	RegisterAddContactCallback (std::shared_ptr< AddContactCallback > callback)
	Specify a callback object to be used each time a contact point is added to the container. More...

virtual std::shared_ptr< AddContactCallback >	GetAddContactCallback ()
	Get the callback object to be used each time a contact point is added to the container.

Public Member Functions inherited from chrono::ChPhysicsItem
	ChPhysicsItem (const ChPhysicsItem &other)

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 (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_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c)
	Takes the Mv term, multiplying mass by a vector, scale and adds to R at given offset: R += cM*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 += cCq'*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	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...

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
std::list< ChContactSMC_3_3 * >	contactlist_3_3

std::list< ChContactSMC_6_3 * >	contactlist_6_3

std::list< ChContactSMC_6_6 * >	contactlist_6_6

std::list< ChContactSMC_333_3 * >	contactlist_333_3

std::list< ChContactSMC_333_6 * >	contactlist_333_6

std::list< ChContactSMC_333_333 * >	contactlist_333_333

std::list< ChContactSMC_666_3 * >	contactlist_666_3

std::list< ChContactSMC_666_6 * >	contactlist_666_6

std::list< ChContactSMC_666_333 * >	contactlist_666_333

std::list< ChContactSMC_666_666 * >	contactlist_666_666

int	n_added_3_3

int	n_added_6_3

int	n_added_6_6

int	n_added_333_3

int	n_added_333_6

int	n_added_333_333

int	n_added_666_3

int	n_added_666_6

int	n_added_666_333

int	n_added_666_666

std::list< ChContactSMC_3_3 * >::iterator	lastcontact_3_3

std::list< ChContactSMC_6_3 * >::iterator	lastcontact_6_3

std::list< ChContactSMC_6_6 * >::iterator	lastcontact_6_6

std::list< ChContactSMC_333_3 * >::iterator	lastcontact_333_3

std::list< ChContactSMC_333_6 * >::iterator	lastcontact_333_6

std::list< ChContactSMC_333_333 * >::iterator	lastcontact_333_333

std::list< ChContactSMC_666_3 * >::iterator	lastcontact_666_3

std::list< ChContactSMC_666_6 * >::iterator	lastcontact_666_6

std::list< ChContactSMC_666_333 * >::iterator	lastcontact_666_333

std::list< ChContactSMC_666_666 * >::iterator	lastcontact_666_666

std::unordered_map< ChContactable *, ForceTorque >	contact_forces

Protected Attributes inherited from chrono::ChContactContainer
std::shared_ptr< AddContactCallback >	add_contact_callback

ReportContactCallback *	report_contact_callback

Protected Attributes inherited from chrono::ChPhysicsItem
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

Additional Inherited Members
Protected Member Functions inherited from chrono::ChContactContainer
template<class Tcont >
void	SumAllContactForces (std::list< Tcont * > &contactlist, std::unordered_map< ChContactable *, ForceTorque > &contactforces)
	Utility function to accumulate contact forces from a specified list of contacts. More...

Member Function Documentation

◆ AddContact() [1/2]

void chrono::ChContactContainerSMC::AddContact ( const collision::ChCollisionInfo & cinfo )

overridevirtual

Add a contact between two collision shapes, storing it into this container.

The collision info object is assumed to contain valid pointers to the two colliding shapes. A composite contact material is created from their material properties.

Implements chrono::ChContactContainer.

◆ AddContact() [2/2]

void chrono::ChContactContainerSMC::AddContact	(	const collision::ChCollisionInfo &	cinfo,
		std::shared_ptr< ChMaterialSurface >	mat1,
		std::shared_ptr< ChMaterialSurface >	mat2
	)

overridevirtual

Add a contact between two collision shapes, storing it into this container.

A compositecontact material is created from the two given materials. In this case, the collision info object may have null pointers to collision shapes.

Implements chrono::ChContactContainer.

◆ ArchiveIN()

void chrono::ChContactContainerSMC::ArchiveIN ( ChArchiveIn & marchive )

overridevirtual

Method to allow de-serialization of transient data from archives.

Method to allow de serialization of transient data from archives.

Reimplemented from chrono::ChContactContainer.

◆ BeginAddContact()

void chrono::ChContactContainerSMC::BeginAddContact ( )

overridevirtual

The collision system will call BeginAddContact() before adding all contacts (for example with AddContact() or similar).

Instead of simply deleting all list of the previous contacts, this optimized implementation rewinds the link iterator to begin and tries to reuse previous contact objects until possible, to avoid too much allocation/deallocation.

Reimplemented from chrono::ChContactContainer.

◆ ComputeContactForces()

void chrono::ChContactContainerSMC::ComputeContactForces ( )

overridevirtual

Compute contact forces on all contactable objects in this container.

This function caches contact forces in a map.

Reimplemented from chrono::ChContactContainer.

◆ EndAddContact()

void chrono::ChContactContainerSMC::EndAddContact ( )

overridevirtual

The collision system will call BeginAddContact() after adding all contacts (for example with AddContact() or similar).

This optimized version purges the end of the list of contacts that were not reused (if any).

Reimplemented from chrono::ChContactContainer.

◆ IntLoadResidual_F()

void chrono::ChContactContainerSMC::IntLoadResidual_F	(	const unsigned int	off,
		ChVectorDynamic<> &	R,
		const double	c
	)

overridevirtual

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 from chrono::ChPhysicsItem.

◆ KRMmatricesLoad()

void chrono::ChContactContainerSMC::KRMmatricesLoad	(	double	Kfactor,
		double	Rfactor,
		double	Mfactor
	)

overridevirtual

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 from chrono::ChPhysicsItem.

◆ Update()

void chrono::ChContactContainerSMC::Update	(	double	mtime,
		bool	update_assets = `true`
	)

overridevirtual

Update state of this contact container: compute jacobians, violations, etc.

and store results in inner structures of contacts.

Reimplemented from chrono::ChPhysicsItem.

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

/builds/uwsbel/chrono/src/chrono/physics/ChContactContainerSMC.h
/builds/uwsbel/chrono/src/chrono/physics/ChContactContainerSMC.cpp

Description

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ AddContact() [1/2]

◆ AddContact() [2/2]

◆ ArchiveIN()

◆ BeginAddContact()

◆ ComputeContactForces()

◆ EndAddContact()

◆ IntLoadResidual_F()

◆ KRMmatricesLoad()

◆ Update()