Description

Class for quick creation of rigid bodies with a convex hull shape.

In addition to the base class, this optionally sets the visualization and/or collision shape and automatically calculates intertia properties based on the geometry.

#include <ChBodyEasy.h>

Inheritance diagram for chrono::ChBodyEasyConvexHull:

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Collaboration diagram for chrono::ChBodyEasyConvexHull:

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Public Member Functions
	ChBodyEasyConvexHull (std::vector< ChVector<>> &points, double density, bool visualize=true, bool collide=false, std::shared_ptr< ChMaterialSurface > material=nullptr, std::shared_ptr< collision::ChCollisionModel > collision_model=chrono_types::make_shared< collision::ChCollisionModelBullet >())
	Create a ChBody with optional convex hull visualization and/or collision shape. More...

	ChBodyEasyConvexHull (std::vector< ChVector<>> &points, double density, std::shared_ptr< ChMaterialSurface > material, collision::ChCollisionSystemType collision_type)
	Create a ChBody with a convex hull visualization and collision shape using the specified collision model type. More...

std::shared_ptr< geometry::ChTriangleMeshConnected >	GetMesh () const

Public Member Functions inherited from chrono::ChBody
	ChBody (collision::ChCollisionSystemType collision_type=collision::ChCollisionSystemType::BULLET)
	Build a rigid body.

	ChBody (std::shared_ptr< collision::ChCollisionModel > new_collision_model)
	Build a rigid body with a different collision model.

	ChBody (const ChBody &other)

virtual	~ChBody ()
	Destructor.

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

void	SetBodyFixed (bool state)
	Sets the 'fixed' state of the body. More...

bool	GetBodyFixed () const
	Return true if this body is fixed to ground.

void	SetEvalContactCn (bool state)
	If true, the normal restitution coefficient is evaluated from painted material channel.

bool	GetEvalContactCn () const

void	SetEvalContactCt (bool state)
	If true, the tangential restitution coefficient is evaluated from painted material channel.

bool	GetEvalContactCt () const

void	SetEvalContactKf (bool state)
	If true, the kinetic friction coefficient is evaluated from painted material channel.

bool	GetEvalContactKf () const

void	SetEvalContactSf (bool state)
	If true, the static friction coefficient is evaluated from painted material channel.

bool	GetEvalContactSf () const

void	SetCollide (bool state)
	Enable/disable the collision for this rigid body. More...

virtual bool	GetCollide () const override
	Return true if collision is enabled for this body.

void	SetShowCollisionMesh (bool state)
	Show collision mesh in 3D views.

bool	GetShowCollisionMesh () const
	Return true if collision mesh is shown in 3D views.

void	SetLimitSpeed (bool state)
	Enable the maximum linear speed limit (beyond this limit it will be clamped). More...

bool	GetLimitSpeed () const
	Return true if maximum linear speed is limited.

void	SetNoGyroTorque (bool state)
	Deactivate the gyroscopic torque (quadratic term). More...

bool	GetNoGyroTorque () const
	Return true if gyroscopic torque is deactivated.

void	SetUseSleeping (bool state)
	Enable/disable option for setting bodies to "sleep". More...

bool	GetUseSleeping () const
	Return true if 'sleep' mode is activated.

void	SetSleeping (bool state)
	Force the body in sleeping mode or not (usually this state change is not handled by users, anyway, because it is mostly automatic).

bool	GetSleeping () const
	Return true if this body is currently in 'sleep' mode.

bool	TrySleeping ()
	Test if a body could go in sleeping state if requirements are satisfied. More...

virtual bool	IsActive () const override
	Return true if the body is currently active and thereofre included into the system solver. More...

void	SetId (int id)
	Set body id for indexing (internal use only)

unsigned int	GetId ()
	Set body id for indexing (internal use only)

void	SetGid (unsigned int id)
	Set global body index (internal use only)

unsigned int	GetGid () const
	Get the global body index (internal use only)

virtual int	GetDOF () override
	Number of coordinates of body: 7 because uses quaternions for rotation.

virtual int	GetDOF_w () override
	Number of coordinates of body: 6 because derivatives use angular velocity.

virtual ChVariables &	Variables () override
	Return a reference to the encapsulated ChVariablesBody, representing states (pos, speed, or accel.) and forces. More...

void	SetNoSpeedNoAcceleration () override
	Set no speed and no accelerations (but does not change the position)

void	SetCollisionModel (std::shared_ptr< collision::ChCollisionModel > new_collision_model)
	Change the collision model.

std::shared_ptr< collision::ChCollisionModel >	GetCollisionModel ()
	Access the collision model for the collision engine. More...

virtual void	SyncCollisionModels () override
	Synchronize coll.model coordinate and bounding box to the position of the body.

virtual void	AddCollisionModelsToSystem () override
	If this physical item contains one or more collision models, add them to the system's collision engine.

virtual void	RemoveCollisionModelsFromSystem () override
	If this physical item contains one or more collision models, remove them from the system's collision engine.

virtual const ChFrameMoving &	GetFrame_COG_to_abs () const
	Get the rigid body coordinate system that represents the GOG (Center of Gravity). More...

virtual const ChFrameMoving &	GetFrame_REF_to_abs () const
	Get the rigid body coordinate system that is used for defining the collision shapes and the ChMarker objects. More...

virtual ChFrame	GetVisualModelFrame (unsigned int nclone=0) override
	Get the reference frame (expressed in and relative to the absolute frame) of the visual model. More...

virtual void	GetTotalAABB (ChVector<> &bbmin, ChVector<> &bbmax) override
	Get the entire AABB axis-aligned bounding box of the object, as defined by the collision model (if any).

virtual void	StreamINstate (ChStreamInBinary &mstream) override
	Method to deserialize only the state (position, speed)

virtual void	StreamOUTstate (ChStreamOutBinary &mstream) override
	Method to serialize only the state (position, speed)

void	SetDensity (float mdensity)
	The density of the rigid body, as [mass]/[unit volume]. More...

void	AddMarker (std::shared_ptr< ChMarker > amarker)
	Attach a marker to this body.

void	AddForce (std::shared_ptr< ChForce > aforce)
	Attach a force to this body.

void	RemoveMarker (std::shared_ptr< ChMarker > amarker)
	Remove a specific marker from this body. Warning: linear time search.

void	RemoveForce (std::shared_ptr< ChForce > aforce)
	Remove a specific force from this body. Warning: linear time search.

void	RemoveAllForces ()
	Remove all markers at once. More...

void	RemoveAllMarkers ()
	Remove all markers at once. More...

std::shared_ptr< ChMarker >	SearchMarker (const char *m_name)
	Finds a marker from its ChObject name.

std::shared_ptr< ChForce >	SearchForce (const char *m_name)
	Finds a force from its ChObject name.

const std::vector< std::shared_ptr< ChMarker > > &	GetMarkerList () const
	Gets the list of children markers. More...

const std::vector< std::shared_ptr< ChForce > > &	GetForceList () const
	Gets the list of children forces. More...

ChVector	Point_World2Body (const ChVector<> &mpoint)

ChVector	Point_Body2World (const ChVector<> &mpoint)

ChVector	Dir_World2Body (const ChVector<> &dir)

ChVector	Dir_Body2World (const ChVector<> &dir)

ChVector	RelPoint_AbsSpeed (const ChVector<> &mrelpoint)

ChVector	RelPoint_AbsAcc (const ChVector<> &mrelpoint)

void	SetMass (double newmass)
	Set the body mass. More...

double	GetMass ()
	Get the body mass.

void	SetInertia (const ChMatrix33<> &newXInertia)
	Set the inertia tensor of the body. More...

const ChMatrix33 &	GetInertia () const
	Get the inertia tensor, expressed in the local coordinate system. More...

const ChMatrix33 &	GetInvInertia () const
	Get the inverse of the inertia matrix.

void	SetInertiaXX (const ChVector<> &iner)
	Set the diagonal part of the inertia tensor (Ixx, Iyy, Izz values). More...

ChVector	GetInertiaXX () const
	Get the diagonal part of the inertia tensor (Ixx, Iyy, Izz values). More...

void	SetInertiaXY (const ChVector<> &iner)
	Set the off-diagonal part of the inertia tensor (Ixy, Ixz, Iyz values). More...

ChVector	GetInertiaXY () const
	Get the extra-diagonal part of the inertia tensor (Ixy, Ixz, Iyz values). More...

void	SetMaxSpeed (float m_max_speed)
	Set the maximum linear speed (beyond this limit it will be clamped). More...

float	GetMaxSpeed () const

void	SetMaxWvel (float m_max_wvel)
	Set the maximum angular speed (beyond this limit it will be clamped). More...

float	GetMaxWvel () const

void	ClampSpeed ()
	Clamp the body speed to the provided limits. More...

void	SetSleepTime (float m_t)
	Set the amount of time which must pass before going automatically in sleep mode when the body has very small movements.

float	GetSleepTime () const

void	SetSleepMinSpeed (float m_t)
	Set the max linear speed to be kept for 'sleep_time' before freezing.

float	GetSleepMinSpeed () const

void	SetSleepMinWvel (float m_t)
	Set the max linear speed to be kept for 'sleep_time' before freezing.

float	GetSleepMinWvel () const

void	ComputeQInertia (ChMatrix44<> &mQInertia)
	Computes the 4x4 inertia tensor in quaternion space, if needed.

void	ComputeGyro ()
	Computes the gyroscopic torque. More...

void	Accumulate_force (const ChVector<> &force, const ChVector<> &appl_point, bool local)
	Add an applied force to the body's accumulator (as an increment). More...

void	Accumulate_torque (const ChVector<> &torque, bool local)
	Add an applied torque to the body's accumulator (as an increment). More...

void	Empty_forces_accumulators ()
	Clear the force and torque accumulators.

const ChVector &	Get_accumulated_force () const
	Return the current value of the accumulator force. More...

const ChVector &	Get_accumulated_torque () const
	Return the current value of the accumulator torque. More...

void	UpdateMarkers (double mytime)
	Update all children markers of the rigid body, at current body state.

void	UpdateForces (double mytime)
	Update all children forces of the rigid body, at current body state.

void	UpdateTime (double mytime)
	Update local time of rigid body, and time-dependent data.

virtual void	Update (double mytime, bool update_assets=true) override
	Update all auxiliary data of the rigid body and of its children (markers, forces..), at given time.

virtual void	Update (bool update_assets=true) override
	Update all auxiliary data of the rigid body and of its children (markers, forces..)

ChVector	GetAppliedForce ()
	Return the resultant applied force on the body. More...

ChVector	GetAppliedTorque ()
	Return the resultant applied torque on the body. More...

ChVector	GetContactForce ()
	Get the resultant contact force acting on this body.

ChVector	GetContactTorque ()
	Get the resultant contact torque acting on this body.

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 deserialization of transient data from archives. More...

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

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 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	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...

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(). More...

void	AddVisualModel (std::shared_ptr< ChVisualModel > model)
	Add an (optional) visualization model. More...

std::shared_ptr< ChVisualModel >	GetVisualModel () const
	Access the visualization model (if any). More...

void	AddVisualShape (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame=ChFrame<>())
	Add the specified visual shape to the visualization model. More...

std::shared_ptr< ChVisualShape >	GetVisualShape (unsigned int i) const
	Access the specified visualization shape in the visualization model (if any). More...

void	AddVisualShapeFEA (std::shared_ptr< ChVisualShapeFEA > shapeFEA)
	Add the specified FEA visualization object to the visualization model. More...

std::shared_ptr< ChVisualShapeFEA >	GetVisualShapeFEA (unsigned int i) const
	Access the specified FEA visualization object in the visualization model (if any). More...

virtual unsigned int	GetNumVisualModelClones () const
	Return the number of clones of the visual model associated with this physics item. More...

void	AddCamera (std::shared_ptr< ChCamera > camera)
	Attach a ChCamera to this physical item. More...

std::vector< std::shared_ptr< ChCamera > >	GetCameras () const
	Get the set of cameras attached to this physics item.

virtual void	GetCenter (ChVector<> &mcenter)
	Get a symbolic 'center' of the object. More...

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 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	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	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	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	ConstraintsFbLoadForces (double factor=1)
	Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by 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...

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

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

void	To_abs_forcetorque (const ChVector<> &force, const ChVector<> &appl_point, bool local, ChVector<> &resultforce, ChVector<> &resulttorque)
	Transform a force applied at a point on the body into a force and moment applied to the COM and expressed in the absolute frame. More...

Public Member Functions inherited from chrono::ChFrameMoving< double >
	ChFrameMoving (const ChVector< double > &mv=ChVector< double >(0, 0, 0), const ChQuaternion< double > &mq=ChQuaternion< double >(1, 0, 0, 0))
	Construct from pos and rot (as a quaternion)

	ChFrameMoving (const ChVector< double > &mv, const ChMatrix33< double > &ma)
	Construct from pos and rotation (as a 3x3 matrix)

	ChFrameMoving (const ChCoordsys< double > &mc)
	Construct from a coordsys.

	ChFrameMoving (const ChFrame< double > &mc)
	Construct from a frame.

	ChFrameMoving (const ChFrameMoving< double > &other)
	Copy constructor, build from another moving frame.

virtual	~ChFrameMoving ()
	Destructor.

ChFrameMoving< double > &	operator= (const ChFrameMoving< double > &other)
	Assignment operator: copy from another moving frame.

ChFrameMoving< double > &	operator= (const ChFrame< double > &other)
	Assignment operator: copy from another frame.

bool	operator== (const ChFrameMoving< double > &other) const
	Returns true for identical frames.

bool	operator!= (const ChFrameMoving< double > &other) const
	Returns true for different frames.

ChFrameMoving< double >	operator>> (const ChFrameMoving< double > &Fb) const
	The '>>' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = old_frame >> tr_frame; For a sequence of transformations, i.e. More...

ChFrameMoving< double >	operator* (const ChFrameMoving< double > &Fb) const
	The '' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = tr_frame old_frame; For a sequence of transformations, i.e. More...

ChFrameMoving< double > &	operator>>= (const ChFrameMoving< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A>>=T means A'=T*A ; or A'=A >> T.

ChFrameMoving< double > &	operator>>= (const ChVector< double > &D)
	Performs pre-multiplication of this frame by a vector D, to 'move' by a displacement D:

ChFrameMoving< double > &	operator>>= (const ChQuaternion< double > &R)
	Performs pre-multiplication of this frame by a quaternion R, to 'rotate' it by R:

ChFrameMoving< double > &	operator>>= (const ChCoordsys< double > &F)
	Performs pre-multiplication of this frame by a ChCoordsys F:

ChFrameMoving< double > &	operator>>= (const ChFrame< double > &F)
	Performs pre-multiplication of this frame by a ChFrame F:

ChFrameMoving< double > &	operator%= (const ChFrameMoving< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A%=T means A'=T*A ; or A'=A >> T Note: DEPRECATED, use >>= instead.

ChFrameMoving< double > &	operator*= (const ChFrameMoving< double > &T)
	Performs post-multiplication of this frame by another frame, for example: A=T means A'=AT ; or A'=T >> A.

ChCoordsys< double > &	GetCoord_dt ()
	Return both current rotation and translation speeds as a coordsystem object, with vector and quaternion.

const ChCoordsys< double > &	GetCoord_dt () const

ChCoordsys< double > &	GetCoord_dtdt ()
	Return both current rotation and translation accelerations as a coordsystem object, with vector and quaternion.

const ChCoordsys< double > &	GetCoord_dtdt () const

ChVector< double > &	GetPos_dt ()
	Return the current speed as a 3d vector.

const ChVector< double > &	GetPos_dt () const

ChVector< double > &	GetPos_dtdt ()
	Return the current acceleration as a 3d vector.

const ChVector< double > &	GetPos_dtdt () const

ChQuaternion< double > &	GetRot_dt ()
	Return the current rotation speed as a quaternion.

const ChQuaternion< double > &	GetRot_dt () const

ChQuaternion< double > &	GetRot_dtdt ()
	Return the current rotation acceleration as a quaternion.

const ChQuaternion< double > &	GetRot_dtdt () const

ChVector< double >	GetWvel_loc () const
	Computes the actual angular speed (expressed in local coords)

ChVector< double >	GetWvel_par () const
	Computes the actual angular speed (expressed in parent coords)

ChVector< double >	GetWacc_loc () const
	Computes the actual angular acceleration (expressed in local coords)

ChVector< double >	GetWacc_par () const
	Computes the actual angular acceleration (expressed in parent coords)

virtual void	SetCoord_dt (const ChCoordsys< double > &mcoord_dt)
	Set both linear speed and rotation speed as a single ChCoordsys derivative.

virtual void	SetPos_dt (const ChVector< double > &mvel)
	Set the linear speed.

virtual void	SetRot_dt (const ChQuaternion< double > &mrot_dt)
	Set the rotation speed as a quaternion. More...

virtual void	SetWvel_loc (const ChVector< double > &wl)
	Set the rotation speed from given angular speed (expressed in local csys)

virtual void	SetWvel_par (const ChVector< double > &wp)
	Set the rotation speed from given angular speed (expressed in parent csys)

virtual void	SetCoord_dtdt (const ChCoordsys< double > &mcoord_dtdt)
	Set both linear acceleration and rotation acceleration as a single ChCoordsys derivative.

virtual void	SetPos_dtdt (const ChVector< double > &macc)
	Set the linear acceleration.

virtual void	SetRot_dtdt (const ChQuaternion< double > &mrot_dtdt)
	Set the rotation acceleration as a quaternion derivative. More...

virtual void	SetWacc_loc (const ChVector< double > &al)
	Set the rotation acceleration from given angular acceleration (expressed in local csys) Note: even when the local angular acceleration is zero, you are still encouraged to call this method bacause q_dtdt might be nonzero due to nonzero q_dt in case of rotational motion.

virtual void	SetWacc_par (const ChVector< double > &ap)
	Set the rotation speed from given angular speed (expressed in parent csys)

void	Compute_Adt (ChMatrix33< double > &mA_dt) const
	Computes the time derivative of rotation matrix, mAdt.

void	Compute_Adtdt (ChMatrix33< double > &mA_dtdt)
	Computes the 2nd time derivative of rotation matrix, mAdtdt.

ChMatrix33< double >	GetA_dt ()
	Computes and returns an Adt matrix (-note: prefer using Compute_Adt() directly for better performance)

ChMatrix33< double >	GetA_dtdt ()
	Computes and returns an Adt matrix (-note: prefer using Compute_Adtdt() directly for better performance)

void	ConcatenatePreTransformation (const ChFrameMoving< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrameMoving T. More...

void	ConcatenatePostTransformation (const ChFrameMoving< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrameMoving T in local coordinate. More...

ChVector< double >	PointSpeedLocalToParent (const ChVector< double > &localpos) const
	Given the position of a point in local frame coords, and assuming it is sticky to frame, return the speed in parent coords.

ChVector< double >	PointSpeedLocalToParent (const ChVector< double > &localpos, const ChVector< double > &localspeed) const
	Given the position localpos of a point in the local reference frame, assuming that the point moves in the local reference frame with localspeed, return the speed in the parent reference frame.

ChVector< double >	PointAccelerationLocalToParent (const ChVector< double > &localpos) const
	Given the position of a point in local frame coords, and assuming it is sticky to frame, return the acceleration in parent coords. More...

ChVector< double >	PointAccelerationLocalToParent (const ChVector< double > &localpos, const ChVector< double > &localspeed, const ChVector< double > &localacc) const
	Given the position of a point in local frame coords, and assuming it has a frame-relative speed localspeed and frame-relative acceleration localacc, return the acceleration in parent coords.

ChVector< double >	PointSpeedParentToLocal (const ChVector< double > &parentpos, const ChVector< double > &parentspeed) const
	Given the position of a point in parent frame coords, and assuming it has an absolute speed parentspeed, return the speed in local coords.

ChVector< double >	PointAccelerationParentToLocal (const ChVector< double > &parentpos, const ChVector< double > &parentspeed, const ChVector< double > &parentacc) const
	Given the position of a point in parent frame coords, and assuming it has an absolute speed parentspeed and absolute acceleration parentacc, return the acceleration in local coords.

void	TransformLocalToParent (const ChFrameMoving< double > &local, ChFrameMoving< double > &parent) const
	This function transforms a frame from 'this' local coordinate system to parent frame coordinate system, and also transforms the speed and acceleration of the frame. More...

void	TransformParentToLocal (const ChFrameMoving< double > &parent, ChFrameMoving< double > &local) const
	This function transforms a frame from the parent coordinate system to 'this' local frame coordinate system. More...

bool	Equals (const ChFrameMoving< double > &other) const
	Returns true if coordsys is identical to other coordsys.

bool	Equals (const ChFrameMoving< double > &other, double tol) const
	Returns true if coordsys is equal to other coordsys, within a tolerance 'tol'.

virtual void	Invert () override
	The transformation (also for speeds, accelerations) is inverted in place. More...

ChFrameMoving< double >	GetInverse () const

Public Member Functions inherited from chrono::ChFrame< double >
	ChFrame (const ChVector< double > &mv=ChVector< double >(0, 0, 0), const ChQuaternion< double > &mq=ChQuaternion< double >(1, 0, 0, 0))
	Default constructor, or construct from pos and rot (as a quaternion)

	ChFrame (const ChVector< double > &mv, const ChMatrix33< double > &ma)
	Construct from pos and rotation (as a 3x3 matrix)

	ChFrame (const ChCoordsys< double > &mc)
	Construct from a coordsys.

	ChFrame (const ChVector< double > &mv, const double alpha, const ChVector< double > &mu)
	Construct from position mv and rotation of angle alpha around unit vector mu.

	ChFrame (const ChFrame< double > &other)
	Copy constructor, build from another frame.

ChFrame< double > &	operator= (const ChFrame< double > &other)
	Assignment operator: copy from another frame.

bool	operator== (const ChFrame< double > &other) const
	Returns true for identical frames.

bool	operator!= (const ChFrame< double > &other) const
	Returns true for different frames.

ChFrame< double >	operator>> (const ChFrame< double > &Fb) const
	The '>>' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = old_frame >> tr_frame; For a sequence of transformations, i.e. More...

ChFrame< double >	operator* (const ChFrame< double > &Fb) const
	The '>>' operator transforms a vector, so transformations can be represented with this syntax: new_v = old_v >> tr_frame; For a sequence of transformations, i.e. More...

ChVector< double >	operator* (const ChVector< double > &V) const
	The '' operator transforms a vector, so transformations can be represented with this syntax: new_v = tr_frame old_v; For a sequence of transformations, i.e. More...

ChVector< double >	operator/ (const ChVector< double > &V) const
	The '/' is like the '*' operator (see), but uses the inverse transformation for A, in A/b. More...

ChFrame< double > &	operator>>= (const ChFrame< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A>>=T means A'=T*A ; or A'=A >> T.

ChFrame< double > &	operator>>= (const ChVector< double > &D)
	Performs pre-multiplication of this frame by a vector D, to 'move' by a displacement D:

ChFrame< double > &	operator>>= (const ChQuaternion< double > &R)
	Performs pre-multiplication of this frame by a quaternion R, to 'rotate' it by R:

ChFrame< double > &	operator>>= (const ChCoordsys< double > &F)
	Performs pre-multiplication of this frame by a ChCoordsys F, to transform it:

ChFrame< double > &	operator%= (const ChFrame< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A%=T means A'=T*A ; or A'=A >> T Note: DEPRECATED, use >>= instead.

ChFrame< double > &	operator*= (const ChFrame< double > &T)
	Performs post-multiplication of this frame by another frame, for example: A=T means A'=AT ; or A'=T >> A.

ChCoordsys< double > &	GetCoord ()
	Return both current rotation and translation as a coordsystem object, with vector and quaternion.

const ChCoordsys< double > &	GetCoord () const

ChVector< double > &	GetPos ()
	Return the current translation as a 3d vector.

const ChVector< double > &	GetPos () const

ChQuaternion< double > &	GetRot ()
	Return the current rotation as a quaternion.

const ChQuaternion< double > &	GetRot () const

ChMatrix33< double > &	GetA ()
	Return the current rotation as a 3x3 matrix.

const ChMatrix33< double > &	GetA () const

ChVector< double >	GetRotAxis ()
	Get axis of finite rotation, in parent space.

double	GetRotAngle ()
	Get angle of rotation about axis of finite rotation.

void	SetCoord (const ChCoordsys< double > &mcoord)
	Impose both translation and rotation as a single ChCoordsys. More...

void	SetCoord (const ChVector< double > &mv, const ChQuaternion< double > &mq)
	Impose both translation and rotation. More...

void	SetRot (const ChQuaternion< double > &mrot)
	Impose the rotation as a quaternion. More...

void	SetRot (const ChMatrix33< double > &mA)
	Impose the rotation as a 3x3 matrix. More...

void	SetPos (const ChVector< double > &mpos)
	Impose the translation.

void	ConcatenatePreTransformation (const ChFrame< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrame T. More...

void	ConcatenatePostTransformation (const ChFrame< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrame T in local coordinate. More...

void	Move (const ChVector< double > &V)
	An easy way to move the frame by the amount specified by vector V, (assuming V expressed in parent coordinates)

void	Move (const ChCoordsys< double > &VR)
	Apply both translation and rotation, assuming both expressed in parent coordinates, as a vector for translation and quaternion for rotation,.

ChVector< double >	TransformLocalToParent (const ChVector< double > &local) const
	This function transforms a point from the local frame coordinate system to the parent coordinate system. More...

void	TransformLocalToParent (const ChFrame< double > &local, ChFrame< double > &parent) const
	This function transforms a frame from 'this' local coordinate system to parent frame coordinate system. More...

ChVector< double >	TransformPointLocalToParent (const ChVector< double > &local) const

ChVector< double >	TransformParentToLocal (const ChVector< double > &parent) const
	This function transforms a point from the parent coordinate system to local frame coordinate system. More...

void	TransformParentToLocal (const ChFrame< double > &parent, ChFrame< double > &local) const
	This function transforms a frame from the parent coordinate system to 'this' local frame coordinate system. More...

ChVector< double >	TransformPointParentToLocal (const ChVector< double > &parent) const

ChVector< double >	TransformDirectionParentToLocal (const ChVector< double > &mdirection) const
	This function transforms a direction from 'this' local coordinate system to parent frame coordinate system. More...

ChVector< double >	TransformDirectionLocalToParent (const ChVector< double > &mdirection) const
	This function transforms a direction from the parent frame coordinate system to 'this' local coordinate system. More...

bool	Equals (const ChFrame< double > &other) const
	Returns true if coordsys is identical to other coordsys.

bool	Equals (const ChFrame< double > &other, double tol) const
	Returns true if coordsys is equal to other coordsys, within a tolerance 'tol'.

void	Normalize ()
	Normalize the rotation, so that quaternion has unit length.

virtual void	SetIdentity ()
	Sets to no translation and no rotation.

ChFrame< double >	GetInverse () const

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.

Additional Inherited Members
Public Attributes inherited from chrono::ChFrameMoving< double >
ChCoordsys< double >	coord_dt
	Rotation and position speed, as vector+quaternion.

ChCoordsys< double >	coord_dtdt
	Rotation and position acceleration, as vector+quaternion.

Public Attributes inherited from chrono::ChFrame< double >
ChCoordsys< double >	coord
	Rotation and position, as vector+quaternion.

ChMatrix33< double >	Amatrix
	3x3 orthogonal rotation matrix

Protected Attributes inherited from chrono::ChBody
std::shared_ptr< collision::ChCollisionModel >	collision_model
	pointer to the collision model

unsigned int	body_id
	body-specific identifier, used for indexing (internal use only)

unsigned int	body_gid
	body-specific identifier, used for global indexing (internal use only)

std::vector< std::shared_ptr< ChMarker > >	marklist
	list of markers

std::vector< std::shared_ptr< ChForce > >	forcelist
	list of forces

ChVector	gyro
	gyroscopic torque, i.e. Qm = Wvel x (XInertia*Wvel)

ChVector	Xforce
	force acting on body, applied to COM (in absolute coords)

ChVector	Xtorque
	torque acting on body (in body local coords)

ChVector	Force_acc
	force accumulator, applied to COM (in absolute coords)

ChVector	Torque_acc
	torque accumulator (in body local coords)

float	density
	used when doing the 'recompute mass' operation.

ChVariablesBodyOwnMass	variables
	interface to solver (store inertia and coordinates)

float	max_speed
	limit on linear speed

float	max_wvel
	limit on angular velocity

float	sleep_time

float	sleep_minspeed

float	sleep_minwvel

float	sleep_starttime

Protected Attributes inherited from chrono::ChPhysicsItem
ChSystem *	system
	parent system

std::shared_ptr< ChVisualModelInstance >	vis_model_instance
	instantiated visualization model

std::vector< std::shared_ptr< ChCamera > >	cameras
	set of cameras

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

Constructor & Destructor Documentation

◆ ChBodyEasyConvexHull() [1/2]

chrono::ChBodyEasyConvexHull::ChBodyEasyConvexHull	(	std::vector< ChVector<>> &	points,
		double	density,
		bool	visualize = `true`,
		bool	collide = `false`,
		std::shared_ptr< ChMaterialSurface >	material = `nullptr`,
		std::shared_ptr< collision::ChCollisionModel >	collision_model = `chrono_types::make_shared<collision::ChCollisionModelBullet>()`
	)

Create a ChBody with optional convex hull visualization and/or collision shape.

The convex hull is defined with a set of points, expressed in a local frame. Mass and inertia are set automatically depending on density. The convex hull vertices are translated so that the barycenter coincides with the center of mass.

Parameters

points	points of the convex hull
density	density of the body
visualize	create visualization asset
collide	enable collision
material	surface contact material
collision_model	collision model

◆ ChBodyEasyConvexHull() [2/2]

chrono::ChBodyEasyConvexHull::ChBodyEasyConvexHull	(	std::vector< ChVector<>> &	points,
		double	density,
		std::shared_ptr< ChMaterialSurface >	material,
		collision::ChCollisionSystemType	collision_type
	)

Create a ChBody with a convex hull visualization and collision shape using the specified collision model type.

The convex hull is defined with a set of points, expressed in a local frame. Mass and inertia are set automatically depending on density. The convex hull vertices are translated so that the barycenter coincides with the center of mass.

Parameters

points	points of the convex hull
density	density of the body
material	surface contact material
collision_type	collision model type

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

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

Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChBodyEasyConvexHull() [1/2]

◆ ChBodyEasyConvexHull() [2/2]