chrono::ChContactContainerNSC::ReportContactCallbackNSC Class Referenceabstract
Description
Class to be used as a NSC-specific callback interface for some user defined action to be taken for each contact (already added to the container, maybe with already computed forces).
It can be used to report or post-process contacts. It also tells the offset of the contact (first component, normal) in the vector of lagrangian multipliers, if this info is not needed, you can just use ChContactContainer::ReportContactCallback
#include <ChContactContainerNSC.h>
Public Member Functions | |
| virtual bool | OnReportContact (const ChVector<> &pA, const ChVector<> &pB, const ChMatrix33<> &plane_coord, const double &distance, const double &eff_radius, const ChVector<> &react_forces, const ChVector<> &react_torques, ChContactable *contactobjA, ChContactable *contactobjB, const int offset)=0 |
| Callback used to report contact points already added to the container. More... | |
Member Function Documentation
◆ OnReportContact()
|
pure virtual |
Callback used to report contact points already added to the container.
If it returns false, the contact scanning will be stopped.
- Parameters
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pA contact pA pB contact pB plane_coord contact plane coordsystem (A column 'X' is contact normal) distance contact distance eff_radius effective radius of curvature at contact react_forces react.forces (if already computed). In coordsystem 'plane_coord' react_torques react.torques, if rolling friction (if already computed). contactobjA model A (note: some containers may not support it and could be nullptr) contactobjB model B (note: some containers may not support it and could be nullptr) offset offset of the first constraint (the normal component) in the vector of lagrangian multipliers, if already book-keeped
The documentation for this class was generated from the following file:
- /builds/uwsbel/chrono/src/chrono/physics/ChContactContainerNSC.h
