Description

Class for a single node in the SPH cluster.

Does not define mass, inertia and shape because those are shared among them.

#include <ChMatterSPH.h>

Inheritance diagram for chrono::ChNodeSPH:

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Collaboration diagram for chrono::ChNodeSPH:

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Public Member Functions
	ChNodeSPH (const ChNodeSPH &other)

ChNodeSPH &	operator= (const ChNodeSPH &other)

double	GetKernelRadius () const

void	SetKernelRadius (double mr)

double	GetCollisionRadius () const

void	SetCollisionRadius (double mr)

void	SetMass (double mmass) override

double	GetMass () const override

virtual ChVariablesNode &	Variables () override

ChMatterSPH *	GetContainer () const

void	SetContainer (ChMatterSPH *mc)

virtual ChContactable::eChContactableType	GetContactableType () const override
	This must return the proper eChContactableType enum, for allowing a faster collision dispatcher in ChContactContainer classes (this enum will be used instead of slow dynamic_cast<> to infer the type of ChContactable, if possible)

virtual ChVariables *	GetVariables1 () override
	Access variables.

virtual bool	IsContactActive () override
	Tell if the object must be considered in collision detection.

virtual int	ContactableGet_ndof_x () override
	Get the number of DOFs affected by this object (position part).

virtual int	ContactableGet_ndof_w () override
	Get the number of DOFs affected by this object (speed part).

virtual void	ContactableGetStateBlock_x (ChState &x) override
	Get all the DOFs packed in a single vector (position part)

virtual void	ContactableGetStateBlock_w (ChStateDelta &w) override
	Get all the DOFs packed in a single vector (speed part)

virtual void	ContactableIncrementState (const ChState &x, const ChStateDelta &dw, ChState &x_new) override
	Increment the provided state of this object by the given state-delta increment. More...

virtual ChVector	GetContactPoint (const ChVector<> &loc_point, const ChState &state_x) override
	Express the local point in absolute frame, for the given state position.

virtual ChVector	GetContactPointSpeed (const ChVector<> &loc_point, const ChState &state_x, const ChStateDelta &state_w) override
	Get the absolute speed of a local point attached to the contactable. More...

virtual ChVector	GetContactPointSpeed (const ChVector<> &abs_point) override
	Get the absolute speed of point abs_point if attached to the surface. More...

virtual ChCoordsys	GetCsysForCollisionModel () override
	Return the coordinate system for the associated collision model. More...

virtual void	ContactForceLoadResidual_F (const ChVector<> &F, const ChVector<> &abs_point, ChVectorDynamic<> &R) override
	Apply the force, expressed in absolute reference, applied in pos, to the coordinates of the variables. More...

virtual void	ContactForceLoadQ (const ChVector<> &F, const ChVector<> &point, const ChState &state_x, ChVectorDynamic<> &Q, int offset) override
	Apply the given force at the given point and load the generalized force array. More...

virtual void	ComputeJacobianForContactPart (const ChVector<> &abs_point, ChMatrix33<> &contact_plane, type_constraint_tuple &jacobian_tuple_N, type_constraint_tuple &jacobian_tuple_U, type_constraint_tuple &jacobian_tuple_V, bool second) override
	Compute the jacobian(s) part(s) for this contactable item. More...

virtual double	GetContactableMass () override
	This can be useful in some SMC code:

virtual ChPhysicsItem *	GetPhysicsItem () override
	This is only for backward compatibility.

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.

Public Member Functions inherited from chrono::ChNodeXYZ
	ChNodeXYZ (const ChVector<> &initial_pos)

	ChNodeXYZ (const ChNodeXYZ &other)

ChNodeXYZ &	operator= (const ChNodeXYZ &other)

const ChVector &	GetPos () const

void	SetPos (const ChVector<> &mpos)

const ChVector &	GetPos_dt () const

void	SetPos_dt (const ChVector<> &mposdt)

const ChVector &	GetPos_dtdt () const

void	SetPos_dtdt (const ChVector<> &mposdtdt)

virtual int	Get_ndof_x () const override
	Get the number of degrees of freedom.

virtual int	LoadableGet_ndof_x () override
	Gets the number of DOFs affected by this element (position part)

virtual int	LoadableGet_ndof_w () override
	Gets the number of DOFs affected by this element (speed part)

virtual void	LoadableGetStateBlock_x (int block_offset, ChState &mD) override
	Gets all the DOFs packed in a single vector (position part)

virtual void	LoadableGetStateBlock_w (int block_offset, ChStateDelta &mD) override
	Gets all the DOFs packed in a single vector (speed part)

virtual void	LoadableStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) override
	Increment all DOFs using a delta.

virtual int	Get_field_ncoords () override
	Number of coordinates in the interpolated field, ex=3 for a tetrahedron finite element or a cable, etc. More...

virtual int	GetSubBlocks () override
	Get the number of DOFs sub-blocks.

virtual unsigned int	GetSubBlockOffset (int nblock) override
	Get the offset of the specified sub-block of DOFs in global vector.

virtual unsigned int	GetSubBlockSize (int nblock) override
	Get the size of the specified sub-block of DOFs in global vector.

virtual bool	IsSubBlockActive (int nblock) const override
	Check if the specified sub-block of DOFs is active.

virtual void	LoadableGetVariables (std::vector< ChVariables * > &mvars) override
	Get the pointers to the contained ChVariables, appending to the mvars vector.

virtual void	ComputeNF (const double U, const double V, const double W, ChVectorDynamic<> &Qi, double &detJ, const ChVectorDynamic<> &F, ChVectorDynamic<> state_x, ChVectorDynamic<> state_w) override
	Evaluate Q=N'*F , for Q generalized lagrangian load, where N is some type of matrix evaluated at point P(U,V,W) assumed in absolute coordinates, and F is a load assumed in absolute coordinates. More...

virtual double	GetDensity () override
	This is not needed because not used in quadrature.

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

ChNodeBase &	operator= (const ChNodeBase &other)

virtual int	Get_ndof_w () const
	Get the number of degrees of freedom, derivative This might be different from ndof if quaternions are used for rotations, as derivative might be angular velocity.

unsigned int	NodeGetOffset_x ()
	Get offset in the state vector (position part)

unsigned int	NodeGetOffset_w ()
	Get offset in the state vector (speed part)

void	NodeSetOffset_x (const unsigned int moff)
	Set offset in the state vector (position part)

void	NodeSetOffset_w (const unsigned int moff)
	Set offset in the state vector (speed part)

virtual void	NodeIntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T)

virtual void	NodeIntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T)

virtual void	NodeIntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a)

virtual void	NodeIntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a)

virtual void	NodeIntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv)

virtual void	NodeIntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c)

virtual void	NodeIntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c)

virtual void	NodeIntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R)

virtual void	NodeIntFromDescriptor (const unsigned int off_v, ChStateDelta &v)

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)

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 node) 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.

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 node positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More...

Public Member Functions inherited from chrono::ChLoadableUVW
virtual bool	IsTetrahedronIntegrationNeeded ()
	If true, use quadrature over u,v,w in [0..1] range as tetrahedron volumetric coords (with z=1-u-v-w) otherwise use default quadrature over u,v,w in [-1..+1] as box isoparametric coords.

virtual bool	IsTrianglePrismIntegrationNeeded ()
	If true, use quadrature over u,v in [0..1] range as triangle natural coords (with z=1-u-v), and use linear quadrature over w in [-1..+1], otherwise use default quadrature over u,v,w in [-1..+1] as box isoparametric coords.

Public Attributes
ChMatterSPH *	container

ChVariablesNode	variables

collision::ChCollisionModel *	collision_model

ChVector	UserForce

double	volume

double	density

double	h_rad

double	coll_rad

double	pressure

Public Attributes inherited from chrono::ChNodeXYZ
ChVector	pos

ChVector	pos_dt

ChVector	pos_dtdt

Additional Inherited Members
Protected Attributes inherited from chrono::ChNodeBase
unsigned int	offset_x
	offset in vector of state (position part)

unsigned int	offset_w
	offset in vector of state (speed part)

Member Function Documentation

◆ ComputeJacobianForContactPart()

void chrono::ChNodeSPH::ComputeJacobianForContactPart	(	const ChVector<> &	abs_point,
		ChMatrix33<> &	contact_plane,
		type_constraint_tuple &	jacobian_tuple_N,
		type_constraint_tuple &	jacobian_tuple_U,
		type_constraint_tuple &	jacobian_tuple_V,
		bool	second
	)

overridevirtual

Compute the jacobian(s) part(s) for this contactable item.

For example, if the contactable is a ChBody, this should update the corresponding 1x6 jacobian.

◆ ContactableIncrementState()

virtual void chrono::ChNodeSPH::ContactableIncrementState	(	const ChState &	x,
		const ChStateDelta &	dw,
		ChState &	x_new
	)

inlineoverridevirtual

Increment the provided state of this object by the given state-delta increment.

Compute: x_new = x + dw.

Implements chrono::ChContactable.

◆ ContactForceLoadQ()

virtual void chrono::ChNodeSPH::ContactForceLoadQ	(	const ChVector<> &	F,
		const ChVector<> &	point,
		const ChState &	state_x,
		ChVectorDynamic<> &	Q,
		int	offset
	)

inlineoverridevirtual

Apply the given force at the given point and load the generalized force array.

The force and its application point are specified in the global frame. Each object must set the entries in Q corresponding to its variables, starting at the specified offset. If needed, the object states must be extracted from the provided state position.

Implements chrono::ChContactable.