Base class for terrain nodes that use one of the Chrono terrain formulations.

#include <ChVehicleCosimTerrainNodeChrono.h>

Inheritance diagram for chrono::vehicle::ChVehicleCosimTerrainNodeChrono:
Collaboration diagram for chrono::vehicle::ChVehicleCosimTerrainNodeChrono:


struct  ProxyBody
 Association between a proxy body and a mesh index. More...
struct  RigidObstacle
 Specification of a rigid obstacle. More...

Public Types

enum  Type {
 Type of Chrono terrain. More...
- Public Types inherited from chrono::vehicle::ChVehicleCosimBaseNode
enum  NodeType { NodeType::MBS_WHEELED, NodeType::MBS_TRACKED, NodeType::TERRAIN, NodeType::TIRE }
 Type of node participating in co-simulation. More...
enum  InterfaceType { InterfaceType::BODY, InterfaceType::MESH }
 Type of the tire-terrain communication interface. More...

Public Member Functions

Type GetType () const
 Return the type of this terrain node.
void SetProxyFixed (bool fixed)
 Set the proxy bodies as fixed to ground.
virtual double GetInitHeight () const override final
 Return the terrain initial height.
void AddRigidObstacle (const RigidObstacle &obstacle)
 Add a rigid obstacle.
- Public Member Functions inherited from chrono::vehicle::ChVehicleCosimTerrainNode
virtual NodeType GetNodeType () const override
 Return the node type as NodeType::TERRAIN.
void EnableRuntimeVisualization (bool render, double render_fps=100)
 Enable/disable run-time visualization (default: false). More...
void SetDimensions (double length, double width)
 Set the terrain patch dimensions. More...
virtual void Initialize () override final
 Initialize this node. More...
virtual void Synchronize (int step_number, double time) override final
 Synchronize this node. More...
virtual void Advance (double step_size) override final
 Advance simulation. More...
virtual void OutputData (int frame) override final
 Output logging and debugging data.
virtual void OutputVisualizationData (int frame) override
 Output post-processing visualization data. More...
virtual int GetNumContacts () const
 Return current number of contacts. More...
- Public Member Functions inherited from chrono::vehicle::ChVehicleCosimBaseNode
std::string GetNodeTypeString () const
 Return the node type as a string.
bool IsCosimNode () const
 Return true if this node is part of the co-simulation infrastructure.
void SetStepSize (double step)
 Set the integration step size (default: 1e-4).
double GetStepSize () const
 Get the integration step size.
void SetOutDir (const std::string &dir_name, const std::string &suffix)
 Set the name of the output directory and an identifying suffix. More...
void SetVerbose (bool verbose)
 Enable/disable verbose messages during simulation (default: true).
const std::string & GetOutDirName () const
 Get the output directory name for this node.
double GetStepExecutionTime () const
 Get the simulation execution time for the current step on this node. More...
double GetTotalExecutionTime () const
 Get the cumulative simulation execution time on this node.
virtual void WriteCheckpoint (const std::string &filename) const
 Write checkpoint to the specified file (which will be created in the output directory).

Static Public Member Functions

static std::string GetTypeAsString (Type type)
 Return a string describing the type of this terrain node.
static Type GetTypeFromString (const std::string &type)
 Infer the terrain node type from the given string.
static bool ReadSpecfile (const std::string &specfile, rapidjson::Document &d)
 Read a JSON specification file for a Chrono terrain node.
static Type GetTypeFromSpecfile (const std::string &specfile)
 Get the terrain type from the given JSON specification file.
static ChVector2 GetSizeFromSpecfile (const std::string &specfile)
 Get the terrain dimensions (length and width) from the given JSON specification file.
- Static Public Member Functions inherited from chrono::vehicle::ChVehicleCosimBaseNode
static std::string OutputFilename (const std::string &dir, const std::string &root, const std::string &ext, int frame, int frame_digits)
 Utility function for creating an output file name. More...

Protected Types

typedef std::vector< ProxyBodyProxies

Protected Member Functions

 ChVehicleCosimTerrainNodeChrono (Type type, double length, double width, ChContactMethod method)
 Construct a base class terrain node. More...
virtual void OnInitialize (unsigned int num_objects) override
 Initialize this Chrono terrain node. More...
virtual void OnAdvance (double step_size) override
 Advance simulation. More...
virtual ChSystemGetSystem ()=0
 Return a pointer to the underlying Chrono system.
virtual void Construct ()=0
 Construct the terrain (independent of the vehicle system).
virtual void CreateRigidProxy (unsigned int i)=0
 Create the i-th proxy rigid. More...
virtual void CreateMeshProxy (unsigned int i)
 Create the i-th proxy mesh. More...
- Protected Member Functions inherited from chrono::vehicle::ChVehicleCosimTerrainNode
 ChVehicleCosimTerrainNode (double length, double width)
 Construct a terrain node to wrap a terrain patch of given length and width.
virtual bool SupportsMeshInterface () const =0
 Specify whether or not the terrain node supports the MESH communication interface. More...
virtual void OnSynchronize (int step_number, double time)
 Perform any additional operations after the data exchange and synchronization with the MBS node. More...
virtual void OnOutputData (int frame)
 Perform additional output at the specified frame (called from within OutputData).
virtual void Render (double time)
 Render simulation. More...
virtual void UpdateMeshProxy (unsigned int i, MeshState &mesh_state)
 Update the state of the i-th proxy mesh. More...
virtual void GetForceMeshProxy (unsigned int i, MeshContact &mesh_contact)
 Collect cumulative contact forces on the i-th proxy mesh. More...
virtual void UpdateRigidProxy (unsigned int i, BodyState &rigid_state)=0
 Update the state of the i-th proxy rigid. More...
virtual void GetForceRigidProxy (unsigned int i, TerrainForce &rigid_contact)=0
 Collect cumulative contact force and torque on the i-th proxy rigid. More...
- Protected Member Functions inherited from chrono::vehicle::ChVehicleCosimBaseNode
 ChVehicleCosimBaseNode (const std::string &name)
void SendGeometry (const ChVehicleGeometry &geom, int dest) const
void RecvGeometry (ChVehicleGeometry &geom, int source) const

Protected Attributes

Type m_type
 terrain type
ChContactMethod m_method
 contact method (SMC or NSC)
std::shared_ptr< ChMaterialSurfacem_material_terrain
 material properties for terrain bodies
double m_init_height
 terrain initial height
std::vector< Proxies > m_proxies
 proxy bodies for each object
bool m_fixed_proxies
 are proxy bodies fixed to ground?
std::vector< RigidObstaclem_obstacles
 list of rigid obstacles
- Protected Attributes inherited from chrono::vehicle::ChVehicleCosimTerrainNode
bool m_render
 if true, perform run-time rendering
double m_render_step
 time step between rendered frames
double m_hdimX
 patch half-length (X direction)
double m_hdimY
 patch half-width (Y direction)
bool m_wheeled
 comm node (true: TIRE nodes, false: tracked MBS node)
InterfaceType m_interface_type
 communication interface (body or mesh)
int m_num_objects
 number of interacting objects
std::vector< ChVehicleGeometry::AABB > m_aabb
 AABB of collision models for interacting objects.
std::vector< ChVehicleGeometrym_geometry
 contact geometry and materials for interacting objects
std::vector< double > m_load_mass
 vertical load on interacting objects
std::vector< int > m_obj_map
 mapping from interacting object to shape
std::vector< MeshState > m_mesh_state
 mesh state (used for MESH communication)
std::vector< BodyStatem_rigid_state
 rigid state (used for BODY communication interface)
std::vector< MeshContactm_mesh_contact
 mesh contact forces (used for MESH communication interface)
std::vector< TerrainForcem_rigid_contact
 rigid contact force (used for BODY communication interface)
- Protected Attributes inherited from chrono::vehicle::ChVehicleCosimBaseNode
int m_rank
 MPI rank of this node (in MPI_COMM_WORLD)
double m_step_size
 integration step size
std::string m_name
 name of the node
std::string m_out_dir
 top-level output directory
std::string m_node_out_dir
 node-specific output directory
std::ofstream m_outf
 output file stream
unsigned int m_num_wheeled_mbs_nodes
unsigned int m_num_tracked_mbs_nodes
unsigned int m_num_terrain_nodes
unsigned int m_num_tire_nodes
ChTimer< double > m_timer
 timer for integration cost
double m_cum_sim_time
 cumulative integration cost
bool m_verbose
 verbose messages during simulation?

Additional Inherited Members

- Static Protected Attributes inherited from chrono::vehicle::ChVehicleCosimBaseNode
static const double m_gacc = -9.81

Member Enumeration Documentation

◆ Type

Type of Chrono terrain.


rigid terrain


Soil Contact Model.


granular terrain (Chrono::Multicore)


granular terrain (Chrono::Gpu)


granular terrain (Chrono::Distributed)


continuous representation of granular terrain (Chrono::FSI)


unknown terrain type

Constructor & Destructor Documentation

◆ ChVehicleCosimTerrainNodeChrono()

chrono::vehicle::ChVehicleCosimTerrainNodeChrono::ChVehicleCosimTerrainNodeChrono ( Type  type,
double  length,
double  width,
ChContactMethod  method 

Construct a base class terrain node.

typeterrain type
lengthterrain patch length
widthterain patch width
methodcontact method (SMC or NSC)

Member Function Documentation

◆ CreateMeshProxy()

virtual void chrono::vehicle::ChVehicleCosimTerrainNodeChrono::CreateMeshProxy ( unsigned int  i)

Create the i-th proxy mesh.

Use information in the m_geometry struct (collision geometry expressed in local frame).

◆ CreateRigidProxy()

virtual void chrono::vehicle::ChVehicleCosimTerrainNodeChrono::CreateRigidProxy ( unsigned int  i)
protectedpure virtual

Create the i-th proxy rigid.

Use information in the m_geometry struct (collision geometry expressed in local frame).

◆ OnAdvance()

void chrono::vehicle::ChVehicleCosimTerrainNodeChrono::OnAdvance ( double  step_size)

Advance simulation.

This function is called after a synchronization to allow the node to advance its state by the specified time step. A node is allowed to take as many internal integration steps as required, but no inter-node communication should occur.

Implements chrono::vehicle::ChVehicleCosimTerrainNode.

◆ OnInitialize()

void chrono::vehicle::ChVehicleCosimTerrainNodeChrono::OnInitialize ( unsigned int  num_objects)

Initialize this Chrono terrain node.

Construct the terrain system and the proxy bodies.

Implements chrono::vehicle::ChVehicleCosimTerrainNode.

Reimplemented in chrono::vehicle::ChVehicleCosimTerrainNodeGranularSPH.

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeChrono.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeChrono.cpp