Description

The vehicle co-simulation module provides an MPI_based framework for co-simulating a multibody system representing a wheeled mechanism with various terrain models and optionally various tire models. It implements a 3-way explicit force-displacement co-simulation approach. The three different types of nodes present in a co-simulation are as follows:

MBS node, a single MPI rank which simulates the multibody system up to the wheel spindles.
Tire nodes, a number of MPI ranks (equal to the number of wheels), each simulating one of the tires.
Terrain node(s), one or more MPI ranks which simulate the deformable terrain

The inter-node communication at each synchronization time is as follows:

MBS node sends spindle body state to corresponding Tire nodes
Tire nodes send spindle forces to MBS node
Tire nodes send tire state (rigid body state or deformable mesh state) to Terrain node
Terrain node sends tire forces (single resultant force or distributed vertex forces) to corresponding Tire node

The communication interface between Tire and Terrain nodes can be of one of two types:

ChVehicleCosimBaseNode::InterfaceType::BODY, in which data (force-displacement) for a single rigid body is exchanged
ChVehicleCosimBaseNode::InterfaceType::MESH, in which data (force-displacement) for a deformable mesh is exchanged

Collaboration diagram for Co-simulation support for vehicle-terrain interaction:

Modules
	Multibody system nodes

	Tire simulation nodes

	Terrain nodes using Chrono physics

Classes
class	chrono::vehicle::ChVehicleCosimBaseNode
	Base class for a co-simulation node. More...

class	chrono::vehicle::ChVehicleCosimMBSNode
	Base class for all MBS nodes. More...

class	chrono::vehicle::ChVehicleCosimOtherNode
	Definition of an additional MPI node not directly involved in co-simulation. More...

class	chrono::vehicle::ChVehicleCosimTerrainNode
	Base class for a terrain node. More...

class	chrono::vehicle::ChVehicleCosimTireNode
	Base class for all tire nodes. More...

Description

Modules

Classes