Description

Groups SCM parameters into a struct, defines some useful defaults See SCMDeformableTerrain::SetSoilParameters and SoilParametersCallback for more details on these.

#include <SynSCMTerrainAgent.h>

Public Member Functions
void	SetParameters (double Bekker_Kphi, double Bekker_Kc, double Bekker_n, double Mohr_cohesion, double Mohr_friction, double Janosi_shear, double elastic_K, double damping_R)

void	InitializeParametersAsSoft ()

void	InitializeParametersAsMid ()

void	InitializeParametersAsHard ()

Public Attributes
double	m_Bekker_Kphi
	Kphi, frictional modulus in Bekker model.

double	m_Bekker_Kc
	Kc, cohesive modulus in Bekker model.

double	m_Bekker_n
	n, exponent of sinkage in Bekker model (usually 0.6...1.8)

double	m_Mohr_cohesion
	Cohesion for shear failure [Pa].

double	m_Mohr_friction
	Friction angle for shear failure [degree].

double	m_Janosi_shear
	Shear parameter in Janosi-Hanamoto formula [m].

double	m_elastic_K
	elastic stiffness K per unit area, [Pa/m] (must be larger than Kphi)

double	m_damping_R
	vertical damping R per unit area [Pa.s/m] (proportional to vertical speed)

The documentation for this struct was generated from the following file:

/builds/uwsbel/chrono/src/chrono_synchrono/agent/SynSCMTerrainAgent.h

Description

Public Member Functions

Public Attributes