Description

Class for assemblies of items, for example ChBody, ChLink, ChMesh, etc.

This supports component mode synthesis (CMS) to do substructuring, hence an assembly becomes a "modal body" where many "internal" DOFs of finite elements will be reduced to few modal modes that are superimposed to the motion of a floating frame (for small deflections). Some nodes can be selected as "boundary nodes" to allow connecting this modal assembly to external joints and forces.

#include <ChModalAssembly.h>

Inheritance diagram for chrono::modal::ChModalAssembly:

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Collaboration diagram for chrono::modal::ChModalAssembly:

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Classes
class	CustomForceFullCallback
	Class to be used as a callback interface for computing a custom force F applied to the full (not reduced) coordinates; when in reduced mode, this force will be applied with an automatic transformation to the reduced coordinates. More...

class	CustomForceModalCallback
	Class to be used as a callback interface for computing a custom force F applied to the modal coordinates. More...

Public Member Functions
	ChModalAssembly (const ChModalAssembly &other)

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

ChModalAssembly &	operator= (ChModalAssembly other)
	Assignment operator for ChModalAssembly.

void	SetModalMode (bool mmodal)
	Set true to ignore the dofs of all the "internal" bodies, meshes, etc. More...

bool	IsModalMode ()

bool	ComputeModes (const ChModalSolveUndamped &n_modes_settings)
	Compute the undamped modes for the current assembly. More...

bool	ComputeModesExternalData (ChSparseMatrix &mM, ChSparseMatrix &mK, ChSparseMatrix &full_Cq, const ChModalSolveUndamped &n_modes_settings)
	Compute the undamped modes from M and K matrices. Later you can fetch results via Get_modes_V() etc. More...

bool	ComputeModesDamped (const ChModalSolveDamped &n_modes_settings)
	Compute the damped modes for the entire assembly. More...

void	SwitchModalReductionON (const ChModalSolveUndamped &n_modes_settings, const ChModalDamping &damping_model=ChModalDampingNone())
	Perform modal reduction on this assembly, from the current "full" ("boundary"+"internal") assembly. More...

void	SwitchModalReductionON (ChSparseMatrix &full_M, ChSparseMatrix &full_K, ChSparseMatrix &full_Cq, const ChModalSolveUndamped &n_modes_settings, const ChModalDamping &damping_model=ChModalDampingNone())
	Perform modal reduction on this assembly that contains only the "boundary" nodes, whereas the "internal" nodes have been modeled only in an external FEA software with the full ("boundary"+"internal") modes. More...

void	SetFullStateWithModeOverlay (int n_mode, double phase, double amplitude)
	For displaying modes, you can use the following function. More...

void	SetInternalStateWithModes (bool full_update)
	For displaying the deformation using internal nodes, you can use the following function. More...

void	SetFullStateReset ()
	Resets the state of this subassembly (both boundary and inner items) to the state snapshot that was taken when doing the last ComputeModes() or ComputeModesDamped().

void	GetStateLocal (ChStateDelta &Dx_local, ChStateDelta &v_local)
	Computes the 'local' increment of the subassembly (increment of configuration respect to the x0 snapshot configuration, in local reference), and also gets the speed in local reference.

void	SetInternalNodesUpdate (bool mflag)
	Optimization flag. More...

int	Get_n_modes_coords_w ()
	Get the number of modal coordinates. Use SwitchModalReductionOn() to change it.

ChVectorDynamic &	Get_modal_q ()
	Access the vector of modal coordinates.

ChVectorDynamic &	Get_modal_q_dt ()
	Access the vector of time derivative of modal coordinates (speeds)

ChVectorDynamic &	Get_modal_q_dtdt ()
	Access the vector of 2nd time derivative of modal coordinates (accelerations)

void	RegisterCallback_CustomForceModal (std::shared_ptr< CustomForceModalCallback > mcallback)
	Specify the optional callback object for computing a custom modal force.

void	RegisterCallback_CustomForceFull (std::shared_ptr< CustomForceFullCallback > mcallback)
	Specify the optional callback object for computing a custom force acting on the full (not reduced) coordinates.

ChVectorDynamic &	Get_custom_F_modal ()
	Access the current value of vector of custom applied forces to modal coordinates. More...

ChVectorDynamic &	Get_custom_F_full ()
	Access the current value of vector of custom applied forces to original coordinates. More...

const ChMatrixDynamic &	Get_modal_M () const
	Access the modal mass matrix - read only.

const ChMatrixDynamic &	Get_modal_K () const
	Access the modal stiffness matrix - read only.

const ChMatrixDynamic &	Get_modal_R () const
	Access the modal damping matrix - read only.

const ChMatrixDynamic &	Get_modal_Psi () const
	Access the Psi matrix as in v_full = Psi * v_reduced, also {v_boundary; v_internal} = Psi * {v_boundary; v_modes} Hence Psi contains the "static modes" and the selected "dynamic modes", as in Psi = [I, 0; Psi_s, Psi_d] where Psi_d is the matrix of the selected eigenvectors after SwitchModalReductionON().

const ChVectorDynamic &	Get_assembly_x0 () const
	Access the snapshot of initial state of the full assembly just at the beginning of SwitchModalReductionON()

const ChMatrixDynamic< std::complex< double > > &	Get_modes_V () const
	Access the modal eigenvectors, if previously computed. More...

const ChVectorDynamic< std::complex< double > > &	Get_modes_eig () const
	Access the modal eigenvalues, if previously computed. More...

const ChVectorDynamic< double > &	Get_modes_frequencies () const
	Get a vector of (undamped) modal natural frequencies [Hz], if previously computed. More...

const ChVectorDynamic< double > &	Get_modes_damping_ratios () const
	Get a vector of modal damping ratios = damping/critical_damping, if previously computed. More...

const ChVectorDynamic &	Get_modes_assembly_x0 () const
	Access the snapshot of initial state of the assembly at the moment of the analysis. More...

void	Clear ()
	Removes all inserted items: bodies, links, etc., both boundary and internal.

void	AddInternalBody (std::shared_ptr< ChBody > body)
	Attach an internal body to this assembly.

void	AddInternalLink (std::shared_ptr< ChLinkBase > link)
	Attach an internal link to this assembly.

void	AddInternalMesh (std::shared_ptr< fea::ChMesh > mesh)
	Attach an internal mesh to this assembly.

void	AddInternalOtherPhysicsItem (std::shared_ptr< ChPhysicsItem > item)
	Attach an internal ChPhysicsItem object that is not a body, link, or mesh.

void	AddInternal (std::shared_ptr< ChPhysicsItem > item)
	Attach an arbitrary internal ChPhysicsItem (e.g. More...

void	RemoveInternalBody (std::shared_ptr< ChBody > body)
	Remove an internal body from this assembly.

void	RemoveInternalLink (std::shared_ptr< ChLinkBase > link)
	Remove an internal link from this assembly.

void	RemoveInternalMesh (std::shared_ptr< fea::ChMesh > mesh)
	Remove an internal mesh from the assembly.

void	RemoveInternalOtherPhysicsItem (std::shared_ptr< ChPhysicsItem > item)
	Remove an internal ChPhysicsItem object that is not a body or a link.

void	RemoveInternal (std::shared_ptr< ChPhysicsItem > item)
	Remove an internal arbitrary ChPhysicsItem that was added to the assembly.

void	RemoveAllInternalBodies ()
	Remove all internal bodies from this assembly.

void	RemoveAllInternalLinks ()
	Remove all internal links from this assembly.

void	RemoveAllInternalMeshes ()
	Remove all meshes from this assembly.

void	RemoveAllInternalOtherPhysicsItems ()
	Remove all physics items not in the body, link, or mesh lists.

const std::vector< std::shared_ptr< ChBody > > &	Get_internal_bodylist () const
	Get the list of internal bodies.

const std::vector< std::shared_ptr< ChLinkBase > > &	Get_internal_linklist () const
	Get the list of internal links.

const std::vector< std::shared_ptr< fea::ChMesh > > &	Get_internal_meshlist () const
	Get the list of internal meshes.

const std::vector< std::shared_ptr< ChPhysicsItem > > &	Get_internal_otherphysicslist () const
	Get the list of internal physics items that are not in the body or link lists.

int	GetN_internal_bodies () const
	Get the number of internal bodies.

int	GetN_internal_links () const
	Get the number of internal links.

int	GetN_internal_meshes () const
	Get the number of internal meshes.

int	GetN_internal_physicsItems () const
	Get the number of other internal physics items (other than bodies, links, or meshes).

int	GetN_internal_coords () const
	Get the number of internal coordinates (considering 7 coords for rigid bodies because of the 4 dof of quaternions).

int	GetN_internal_dof () const
	Get the number of internal degrees of freedom of the assembly.

int	GetN_internal_doc () const
	Get the number of internal scalar constraints added to the assembly, including constraints on quaternion norms because of the 4 dof of quaternions.

int	GetN_internal_sysvars () const
	Get the number of internal system variables (coordinates plus the constraint multipliers, in case of quaternions).

int	GetN_internal_coords_w () const
	Get the number of internal coordinates (considering 6 coords for rigid bodies, 3 transl.+3rot.)

int	GetN_internal_doc_w () const
	Get the number of internal scalar constraints added to the assembly.

int	GetN_internal_doc_w_C () const
	Get the number of internal scalar constraints added to the assembly (only bilaterals).

int	GetN_internal_doc_w_D () const
	Get the number of internal scalar constraints added to the assembly (only unilaterals).

int	GetN_internal_sysvars_w () const
	Get the number of internal system variables (coordinates plus the constraint multipliers).

int	GetN_boundary_bodies () const
	Get the number of boundary bodies.

int	GetN_boundary_links () const
	Get the number of boundary links.

int	GetN_boundary_meshes () const
	Get the number of boundary meshes.

int	GetN_boundary_physicsItems () const
	Get the number of other boundary physics items (other than bodies, links, or meshes).

int	GetN_boundary_coords () const
	Get the number of boundary coordinates (considering 7 coords for rigid bodies because of the 4 dof of quaternions).

int	GetN_boundary_dof () const
	Get the number of boundary degrees of freedom of the assembly.

int	GetN_boundary_doc () const
	Get the number of boundary scalar constraints added to the assembly, including constraints on quaternion norms because of the 4 dof of quaternions.

int	GetN_boundary_sysvars () const
	Get the number of boundary system variables (coordinates plus the constraint multipliers, in case of quaternions).

int	GetN_boundary_coords_w () const
	Get the number of boundary coordinates (considering 6 coords for rigid bodies, 3 transl.+3rot.)

int	GetN_boundary_doc_w () const
	Get the number of boundary scalar constraints added to the assembly.

int	GetN_boundary_doc_w_C () const
	Get the number of boundary scalar constraints added to the assembly (only bilaterals).

int	GetN_boundary_doc_w_D () const
	Get the number of boundary scalar constraints added to the assembly (only unilaterals).

int	GetN_boundary_sysvars_w () const
	Get the number of boundary system variables (coordinates plus the constraint multipliers).

void	DumpSubassemblyMatrices (bool save_M, bool save_K, bool save_R, bool save_Cq, const char *path)
	Dump the M mass matrix, K damping matrix, R damping matrix, Cq constraint jacobian matrix (at the current configuration) for this subassembly, Assumes the rows/columns of the matrices are ordered as the ChVariable objects used in this assembly, first the all the "boundary" variables then all the "inner" variables (or modal variables if switched to modal assembly). More...

void	GetSubassemblyMassMatrix (ChSparseMatrix *M)
	Compute the mass matrix of the subassembly. More...

void	GetSubassemblyStiffnessMatrix (ChSparseMatrix *K)
	Compute the stiffness matrix of the subassembly, i.e. More...

void	GetSubassemblyDampingMatrix (ChSparseMatrix *R)
	Compute the stiffness matrix of the subassembly, i.e. More...

void	GetSubassemblyConstraintJacobianMatrix (ChSparseMatrix *Cq)
	Compute the constraint jacobian matrix of the subassembly, i.e. More...

virtual void	SetSystem (ChSystem *m_system) override
	Set the pointer to the parent ChSystem() and also add to new collision system / remove from old coll.system.

virtual void	SyncCollisionModels () override
	If this physical item contains one or more collision models, synchronize their coordinates and bounding boxes to the state of the item.

virtual void	Setup () override
	Counts the number of bodies, links, and meshes. More...

virtual void	Update (bool update_assets=true) override
	Updates all the auxiliary data and children of bodies, forces, links, given their current state.

virtual void	SetNoSpeedNoAcceleration () override
	Set zero speed (and zero accelerations) in state, without changing the position.

virtual int	GetDOF () override
	Get the number of scalar coordinates (ex. dim of position vector)

virtual int	GetDOF_w () override
	Get the number of scalar coordinates of variables derivatives (ex. dim of speed vector)

virtual int	GetDOC () override
	Get the number of scalar constraints, if any, in this item.

virtual int	GetDOC_c () override
	Get the number of scalar constraints, if any, in this item (only bilateral constr.)

virtual int	GetDOC_d () override
	Get the number of scalar constraints, if any, in this item (only unilateral constr.)

virtual void	IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) override
	From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More...

virtual void	IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T, bool full_update) override
	From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More...

virtual void	IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) override
	From item's state acceleration to global acceleration vector. More...

virtual void	IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) override
	From global acceleration vector to item's state acceleration. More...

virtual void	IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) override
	From item's reaction forces to global reaction vector. More...

virtual void	IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) override
	From global reaction vector to item's reaction forces. More...

virtual void	IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) override
	Computes x_new = x + Dt , using vectors at specified offsets. More...

virtual void	IntStateGetIncrement (const unsigned int off_x, const ChState &x_new, const ChState &x, const unsigned int off_v, ChStateDelta &Dv) override
	Computes Dt = x_new - x, using vectors at specified offsets. More...

virtual void	IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override
	Takes the F force term, scale and adds to R at given offset: R += c*F. More...

virtual void	IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) override
	Takes the Mv term, multiplying mass by a vector, scale and adds to R at given offset: R += cM*w. More...

virtual void	IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) override
	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) override
	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) override
	Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More...

virtual void	IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) override
	Prepare variables and constraints to accommodate a solution: More...

virtual void	IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) override
	After a solver solution, fetch values from variables and constraints into vectors: More...

virtual void	InjectVariables (ChSystemDescriptor &mdescriptor) override
	Tell to a system descriptor that there are variables of type ChVariables in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this.

virtual void	InjectConstraints (ChSystemDescriptor &mdescriptor) override
	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	ConstraintsLoadJacobians () override
	Adds the current jacobians in encapsulated ChConstraints.

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

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.

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

ChAssembly &	operator= (ChAssembly other)
	Assignment operator for ChAssembly.

void	Clear ()
	Removes all inserted items: bodies, links, etc.

void	AddBody (std::shared_ptr< ChBody > body)
	Attach a body to this assembly.

void	AddShaft (std::shared_ptr< ChShaft > shaft)
	Attach a shaft to this assembly.

void	AddLink (std::shared_ptr< ChLinkBase > link)
	Attach a link to this assembly.

void	AddMesh (std::shared_ptr< fea::ChMesh > mesh)
	Attach a mesh to this assembly.

void	AddOtherPhysicsItem (std::shared_ptr< ChPhysicsItem > item)
	Attach a ChPhysicsItem object that is not a body, link, or mesh.

void	Add (std::shared_ptr< ChPhysicsItem > item)
	Attach an arbitrary ChPhysicsItem (e.g. More...

void	AddBatch (std::shared_ptr< ChPhysicsItem > item)
	Items added in this way are added like in the Add() method, but not instantly, they are simply queued in a batch of 'to add' items, that are added automatically at the first Setup() call. More...

void	FlushBatch ()
	If some items are queued for addition in the assembly, using AddBatch(), this will effectively add them and clean the batch. More...

void	RemoveBody (std::shared_ptr< ChBody > body)
	Remove a body from this assembly.

void	RemoveShaft (std::shared_ptr< ChShaft > shaft)
	Remove a shaft from this assembly.

void	RemoveLink (std::shared_ptr< ChLinkBase > link)
	Remove a link from this assembly.

void	RemoveMesh (std::shared_ptr< fea::ChMesh > mesh)
	Remove a mesh from the assembly.

void	RemoveOtherPhysicsItem (std::shared_ptr< ChPhysicsItem > item)
	Remove a ChPhysicsItem object that is not a body or a link.

void	Remove (std::shared_ptr< ChPhysicsItem > item)
	Remove arbitrary ChPhysicsItem that was added to the assembly.

void	RemoveAllBodies ()
	Remove all bodies from this assembly.

void	RemoveAllShafts ()
	Remove all shafts from this assembly.

void	RemoveAllLinks ()
	Remove all links from this assembly.

void	RemoveAllMeshes ()
	Remove all meshes from this assembly.

void	RemoveAllOtherPhysicsItems ()
	Remove all physics items not in the body, link, or mesh lists.

const std::vector< std::shared_ptr< ChBody > > &	Get_bodylist () const
	Get the list of bodies.

const std::vector< std::shared_ptr< ChShaft > > &	Get_shaftlist () const
	Get the list of shafts.

const std::vector< std::shared_ptr< ChLinkBase > > &	Get_linklist () const
	Get the list of links.

const std::vector< std::shared_ptr< fea::ChMesh > > &	Get_meshlist () const
	Get the list of meshes.

const std::vector< std::shared_ptr< ChPhysicsItem > > &	Get_otherphysicslist () const
	Get the list of physics items that are not in the body or link lists.

std::shared_ptr< ChBody >	SearchBody (const char *name)
	Search a body by its name.

std::shared_ptr< ChBody >	SearchBodyID (int bodyID)
	Search a body by its ID.

std::shared_ptr< ChShaft >	SearchShaft (const char *name)
	Search a shaft by its name.

std::shared_ptr< ChLinkBase >	SearchLink (const char *name)
	Search a link by its name.

std::shared_ptr< fea::ChMesh >	SearchMesh (const char *name)
	Search a mesh by its name.

std::shared_ptr< ChPhysicsItem >	SearchOtherPhysicsItem (const char *name)
	Search from other ChPhysics items (not bodies, links, or meshes) by name.

std::shared_ptr< ChMarker >	SearchMarker (const char *name)
	Search a marker by its name.

std::shared_ptr< ChMarker >	SearchMarker (int markID)
	Search a marker by its unique ID.

std::shared_ptr< ChPhysicsItem >	Search (const char *name)
	Search an item (body, link or other ChPhysics items) by name.

int	GetNbodies () const
	Get the number of active bodies (so, excluding those that are sleeping or are fixed to ground).

int	GetNbodiesSleeping () const
	Get the number of bodies that are in sleeping mode (excluding fixed bodies).

int	GetNbodiesFixed () const
	Get the number of bodies that are fixed to ground.

int	GetNbodiesTotal () const
	Get the total number of bodies added to the assembly, including the grounded and sleeping bodies.

int	GetNshafts () const
	Get the number of shafts.

int	GetNshaftsSleeping () const
	Get the number of shafts that are in sleeping mode (excluding fixed shafts).

int	GetNshaftsFixed () const
	Get the number of shafts that are fixed to ground.

int	GetNshaftsTotal () const
	Get the total number of shafts added to the assembly, including the grounded and sleeping shafts.

int	GetNlinks () const
	Get the number of links.

int	GetNmeshes () const
	Get the number of meshes.

int	GetNphysicsItems () const
	Get the number of other physics items (other than bodies, links, or meshes).

int	GetNcoords () const
	Get the number of coordinates (considering 7 coords for rigid bodies because of the 4 dof of quaternions).

int	GetNdof () const
	Get the number of degrees of freedom of the assembly.

int	GetNdoc () const
	Get the number of scalar constraints added to the assembly, including constraints on quaternion norms.

int	GetNsysvars () const
	Get the number of system variables (coordinates plus the constraint multipliers, in case of quaternions).

int	GetNcoords_w () const
	Get the number of coordinates (considering 6 coords for rigid bodies, 3 transl.+3rot.)

int	GetNdoc_w () const
	Get the number of scalar constraints added to the assembly.

int	GetNdoc_w_C () const
	Get the number of scalar constraints added to the assembly (only bilaterals).

int	GetNdoc_w_D () const
	Get the number of scalar constraints added to the assembly (only unilaterals).

int	GetNsysvars_w () const
	Get the number of system variables (coordinates plus the constraint multipliers).

virtual void	Update (double mytime, bool update_assets=true) override
	Updates all the auxiliary data and children of bodies, forces, links, given their current state.

virtual void	VariablesFbReset () override
	Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero.

virtual void	VariablesFbLoadForces (double factor=1) override
	Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor.

virtual void	VariablesQbLoadSpeed () override
	Initialize the 'qb' part of the ChVariables with the current value of speeds. More...

virtual void	VariablesFbIncrementMq () override
	Adds M*q (masses multiplied current 'qb') to Fb, ex. More...

virtual void	VariablesQbSetSpeed (double step=0) override
	Fetches the item speed (ex. More...

virtual void	VariablesQbIncrementPosition (double step) override
	Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More...

virtual void	ConstraintsBiReset () override
	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) override
	Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsBiLoad_Ct (double factor=1) override
	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) override
	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) override
	Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints.

virtual void	ConstraintsFetch_react (double factor=1) override
	Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More...

void	ShowHierarchy (ChStreamOutAscii &m_file, int level=0) const
	Writes the hierarchy of contained bodies, markers, etc. More...

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

ChSystem *	GetSystem () const
	Get the pointer to the parent ChSystem().

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 ChFrame	GetVisualModelFrame (unsigned int nclone=0)
	Get the reference frame (expressed in and relative to the absolute frame) of the visual model. 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 bool	IsActive () const
	Return true if the object is active and included in dynamics.

virtual bool	GetCollide () const
	Tell if the object is subject to collision. More...

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

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

virtual void	GetTotalAABB (ChVector<> &bbmin, ChVector<> &bbmax)
	Get the entire AABB axis-aligned bounding box of the object. More...

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

virtual void	StreamINstate (ChStreamInBinary &mstream)
	Method to deserialize only the state (position, speed) Must be implemented by child classes.

virtual void	StreamOUTstate (ChStreamOutBinary &mstream)
	Method to serialize only the state (position, speed) Must be implemented by child classes.

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.

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 ()

Protected Member Functions
void	SetupModalData (int nmodes_reduction)
	Resize modal matrices and hook up the variables to the M K R block for the solver. More...

Friends
class	ChSystem

class	ChSystemMulticore

class	ChSystemDistributed

void	swap (ChModalAssembly &first, ChModalAssembly &second)
	Swap the contents of the two provided ChAssembly objects. More...

Additional Inherited Members
Protected Attributes inherited from chrono::ChAssembly
std::vector< std::shared_ptr< ChBody > >	bodylist
	list of rigid bodies

std::vector< std::shared_ptr< ChShaft > >	shaftlist
	list of 1-D shafts

std::vector< std::shared_ptr< ChLinkBase > >	linklist
	list of joints (links)

std::vector< std::shared_ptr< fea::ChMesh > >	meshlist
	list of meshes

std::vector< std::shared_ptr< ChPhysicsItem > >	otherphysicslist
	list of other physics objects

std::vector< std::shared_ptr< ChPhysicsItem > >	batch_to_insert
	list of items to insert at once

int	nbodies
	number of bodies (currently active)

int	nbodies_sleep
	number of bodies that are sleeping

int	nbodies_fixed
	number of bodies that are fixed

int	nshafts
	number of shafts (currently active)

int	nshafts_sleep
	number of shafts that are sleeping

int	nshafts_fixed
	number of shafts that are fixed

int	nlinks
	number of links

int	nmeshes
	number of meshes

int	nphysicsitems
	number of other physics items

int	ncoords
	number of scalar coordinates (including 4th dimension of quaternions) for all active bodies

int	ndoc
	number of scalar constraints (including constr. on quaternions)

int	nsysvars
	number of variables (coords+lagrangian mult.), i.e. = ncoords+ndoc for all active bodies

int	ncoords_w
	number of scalar coordinates when using 3 rot. dof. per body; for all active bodies

int	ndoc_w
	number of scalar constraints when using 3 rot. dof. per body; for all active bodies

int	nsysvars_w
	number of variables when using 3 rot. dof. per body; i.e. = ncoords_w+ndoc_w

int	ndof
	number of degrees of freedom, = ncoords-ndoc = ncoords_w-ndoc_w ,

int	ndoc_w_C
	number of scalar constraints C, when using 3 rot. dof. per body (excluding unilaterals)

int	ndoc_w_D
	number of scalar constraints D, when using 3 rot. dof. per body (only unilaterals)

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

Member Function Documentation

◆ AddInternal()

void chrono::modal::ChModalAssembly::AddInternal ( std::shared_ptr< ChPhysicsItem > item )

Attach an arbitrary internal ChPhysicsItem (e.g.

ChBody, ChParticles, ChLink, etc.) to the assembly. It will take care of adding it to the proper list of internal bodies, links, meshes, or generic physic item.

◆ ComputeModes()

bool chrono::modal::ChModalAssembly::ComputeModes ( const ChModalSolveUndamped & n_modes_settings )

Compute the undamped modes for the current assembly.

Later you can fetch results via Get_modes_V(), Get_modes_frequencies() etc. Usually done for the assembly in full mode, but can be done also SwitchModalReductionON() int as n. of lower modes to keep, or a full ChModalSolveUndamped

◆ ComputeModesDamped()

bool chrono::modal::ChModalAssembly::ComputeModesDamped ( const ChModalSolveDamped & n_modes_settings )

Compute the damped modes for the entire assembly.

Expect complex eigenvalues/eigenvectors if damping is used. Later you can fetch results via Get_modes_V(), Get_modes_frequencies(), Get_modes_damping_ratios() etc. Usually done for the assembly in full mode, but can be done also after SwitchModalReductionON() int as the n. of lower modes to keep, or a full ChModalSolveDamped

◆ ComputeModesExternalData()

bool chrono::modal::ChModalAssembly::ComputeModesExternalData	(	ChSparseMatrix &	mM,
		ChSparseMatrix &	mK,
		ChSparseMatrix &	full_Cq,
		const ChModalSolveUndamped &	n_modes_settings
	)

Compute the undamped modes from M and K matrices. Later you can fetch results via Get_modes_V() etc.

int as the n. of lower modes to keep, or a full ChModalSolveUndamped

◆ DumpSubassemblyMatrices()

void chrono::modal::ChModalAssembly::DumpSubassemblyMatrices	(	bool	save_M,
		bool	save_K,
		bool	save_R,
		bool	save_Cq,
		const char *	path
	)

Dump the M mass matrix, K damping matrix, R damping matrix, Cq constraint jacobian matrix (at the current configuration) for this subassembly, Assumes the rows/columns of the matrices are ordered as the ChVariable objects used in this assembly, first the all the "boundary" variables then all the "inner" variables (or modal variables if switched to modal assembly).

The name of the files will be [path]_M.dat [path]_K.dat [path]_R.dat [path]_Cq.dat Might throw ChException if file can't be saved.

◆ Get_custom_F_full()

ChVectorDynamic& chrono::modal::ChModalAssembly::Get_custom_F_full ( )

inline

Access the current value of vector of custom applied forces to original coordinates.

Use a CustomForceFullCallback to change it.

◆ Get_custom_F_modal()

ChVectorDynamic& chrono::modal::ChModalAssembly::Get_custom_F_modal ( )

inline

Access the current value of vector of custom applied forces to modal coordinates.

Use a CustomForceModalCallback to change it.